@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}, }