FLAP for CAOS: Forward-Looking Active Perception for Clutter-Aware Object Search11All authors are with the Institute of Computer Science, University of Osnabrück, Albrechtstr. 28, 49076 Osnabrück, Germany. Martin Günther and Joachim Hertzberg have a second affiliation with the DFKI Robotics Innovation Center, Osnabrück Branch, 49076 Osnabrück, Germany. This work is supported by the RACE project, grant agreement no. 287752, funded by the EC Seventh Framework Programme theme FP7-ICT-2011-7.