Design SLAM RAI features

[adamdbrw]

Is your feature request related to a problem? Please describe.
Robots often need to find out about their environment first, building a map and localizing themselves on it. During this process, RAI can be used to guide exploration for mapping or to build a semantic map during the SLAM which adds knowledge and memory, which can be used to reason about the area itself and tasks that are to be given in the area. A great start is to design solutions for RAI.

Describe the solution you'd like
A document that specifies what methods can be used and how they are supposed to work. A rough effort estimation would be great, as well as proposed value estimation. This should help to prioritize work in an informed way.

Describe alternatives you've considered
No alternatives

Additional context
This could be an extensive research field.