IEEE Robotics & Automation Magazine - September 2015 - 1

Vol. 22, No. 3 SEPTEMBER 2015
ISSN 1070-9932
http://www.ieee-ras.org/publications/ram

FEATURES
36 Benchmarking in Manipulation Research

Using the Yale-CMU-Berkeley Object and Model Set

©ISTOCKPHOTO.COM/KIRSTYPARGETER

By Berk Calli, Aaron Walsman, Arjun Singh,
Siddhartha Srinivasa, Pieter Abbeel, and Aaron M. Dollar

53 Competitions for Benchmarking
Task and Functionality Scoring Complete
Performance Assessment

By Francesco Amigoni, Emanuele Bastianelli, Jakob Berghofer,
Andrea Bonarini, Giulio Fontana, Nico Hochgeschwender, Luca Iocchi,
Gerhard K. Kraetzschmar, Pedro Lima, Matteo Matteucci, Pedro Miraldo,
Daniele Nardi, and Viola Schiaffonati

62 Testing the Waters

Design of Replicable Experiments for Performance
Assessment of Marine Robotic Platforms
By Andrea Sorbara, Andrea Ranieri, Eleonora Saggini,
Enrica Zereik, Marco Bibuli, Gabriele Bruzzone,
Eva Riccomagno, and Massimo Caccia

72 Tracking Divers

An Autonomous Marine Surface Vehicle to Increase Diver Safety
By Nikola Mišković, Ðula Nađ, and Ivor Rendulić

85 Exploring 3-D Reconstruction Techniques
A Benchmarking Tool for Underwater Robotics

By Javier Pérez, Jorge Sales, Antonio Pen˜alver, David Fornas, José Javier Fernández,
Juan Carlos García, Pedro J. Sanz, Raúl Marin, and Marío Prats

ON THE COVER
Performance evaluation, benchmarking, competitions are key aspects for fostering reproducibility of
robotics research, fully in line with the very basic
principles of the scientific method as introduced by
Galileo Galilei back in the17th century.
PHOTOCREDITS: GALILEO, ROBOTS, & BACKGROUND-
IMAGES LICENSED BY INGRAM PUBLISHING, LAMP-
©ISTOCKPHOTO.COM/JONNY JIM,
CATHEDRAL-©ISTOCKPHOTO.COM/MAUI01.

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96 Benchmarking Motion Planning Algorithms

An Extensible Infrastructure for Analysis and Visualization
By Mark Moll, loan A. S¸ucan, and Lydia E. Kavraki

103 Benchmarking Bipedal Locomotion

A Unified Scheme for Humanoids, Wearable Robots, and Humans
By Diego Torricelli, Jose González-Vargas, Jan F. Veneman, Katja Mombaur,
Nikos Tsagarakis, Antonio J. del-Ama, Angel Gil-Agudo, Juan C. Moreno,
and Jose L. Pons

116 Wearable Inertial Sensors

Applications, Challenges, and Public Test Benches

By Barbara Bruno, Fulvio Mastrogiovanni, and Antonio Sgorbissa

(continued on page 2)
Digital Object Identifier 10.1109/MRA.2015.2452052

SEPTEMBER 2015

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IEEE ROBOTICS & AUTOMATION MAGAZINE

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Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2015

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