Before revision: In this paper , we present an interactive probabilistic  framework for a mobile manipulator which moves in the environment, makes changes and maps the changing scene alongside. The framework is motivated by interactive robotic applications found in warehouses, construction sites and additive manufacturing, where a mobile robot manipulates objects in the scene .
After revision: In this paper , we present an interactive probabilistic framework for a mobile manipulator picking objects from a pile. The aim is to map the scene, actively decide where to go next and which object to pick, make changes to the scene by picking the chosen object, and then map these changes alongside .