@article{speck-et-al-ral2017,
  author       = {David Speck and Christian Dornhege and Wolfram Burgard},
  title        = {Shakey 2016 -- {H}ow Much Does it Take to Redo Shakey the Robot?},
  journal      = {{IEEE} Robotics and Automation Letters},
  year         = 2017,
  volume       = 2,
  number       = 2,
  pages        = {1203--1209},
}