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Chapter 7: Actively Closing Loops During ExplorationThe first video illustrates how the topological graph structure is created during exploration. The green circle illustrates the robot, the red circles the graph constructed so far.
The second video shows a simulated experiments in which the robot applied the loop-closing technique. The yellow circle refers to the next target location. 
The third video shows a simulated experiments in which the robot applied the loop-closing technique. 
The next two videos illustrate simulated experiments in which the robot once applied the loop-closing technique and once did not. 
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