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Summary: Good Experimental Methodologies for Robotic Mapping: A Proposal
Francesco Amigoni, Simone Gasparini, and Maria Gini
Abstract-- A way to significantly advance robotic science
is to perform experiments that can be replicated by other
researchers and be used to compare different methods. This
happens rarely in current robotics research. In this paper we
present a methodology for performing experimental activities
in the area of robotic mapping. The proposed methodology
prescribes a number of issues that should be addressed when
experimentally validating a mapping method. We present the
application of the proposed methodology to a mapping system
we have developed.
I. INTRODUCTION
Efforts are being made to establish standard benchmarks
for mobile robots [1], [2]. However, benchmarks only allow
to compare different robotic systems by considering them
as black boxes, namely by comparing their "external" per-
formance. In our opinion, this is not enough to advance
significantly the science of robotics. Beyond, and before,
benchmarks, what is needed is to give researchers the ability
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