B-ActiveSEAL: Scalable Uncertainty-Aware Active Exploration with Tightly Coupled Localization-Mapping

• URL: http://arxiv.org/abs/2512.12194v1
• Date: Sat, 13 Dec 2025 05:48:12 GMT
• Title: B-ActiveSEAL: Scalable Uncertainty-Aware Active Exploration with Tightly Coupled Localization-Mapping
• Abstract summary: B-ActiveSEAL is a scalable information-theoretic active exploration framework that accounts for coupled uncertainties.<n>We establish a theoretical foundation for propagating coupled uncertainties and integrating them into general entropy formulations.<n>The effectiveness of the proposed approach is validated through rigorous theoretical analysis and extensive experiments on open-source maps and ROS-Unity simulations.
• Score: 1.7534486934148557
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Active robot exploration requires decision-making processes that integrate localization and mapping under tightly coupled uncertainty. However, managing these interdependent uncertainties over long-term operations in large-scale environments rapidly becomes computationally intractable. To address this challenge, we propose B-ActiveSEAL, a scalable information-theoretic active exploration framework that explicitly accounts for coupled uncertainties-from perception through mapping-into the decision-making process. Our framework (i) adaptively balances map uncertainty (exploration) and localization uncertainty (exploitation), (ii) accommodates a broad class of generalized entropy measures, enabling flexible and uncertainty-aware active exploration, and (iii) establishes Behavioral entropy (BE) as an effective information measure for active exploration by enabling intuitive and adaptive decision-making under coupled uncertainties. We establish a theoretical foundation for propagating coupled uncertainties and integrating them into general entropy formulations, enabling uncertainty-aware active exploration under tightly coupled localization-mapping. The effectiveness of the proposed approach is validated through rigorous theoretical analysis and extensive experiments on open-source maps and ROS-Unity simulations across diverse and complex environments. The results demonstrate that B-ActiveSEAL achieves a well-balanced exploration-exploitation trade-off and produces diverse, adaptive exploration behaviors across environments, highlighting clear advantages over representative baselines.

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