This book is a comprehensive introduction to state-of-the-art technology in
robotic exploration and map building. The reader will find a series of solutions
to challenging problems robots are faced with in the real world when they
need to acquire a model of their surroundings. The book focuses on autonomy
and thus the robot is not supposed to be joysticked though the world but
should be able to decide about his actions on its own. I regard the ability
to learn maps by making own decisions as a key competence for autonomous
robots. Cyrill rigorously applies probabilistic and decision-theoretic concepts
to systematically reducing the uncertainty in the belief of a robot about its
environment and its pose in the environment.