Graph-Theoretic Analysis and Synthesis of Relative Sensing Networks. Zelazo, D. & Mesbahi, M. IEEE Trans.\ Autom.\ Control, 56(5):971-982, 2011.
bibtex   
@ARTICLE{ist:zelazo11b,
  author = {D. Zelazo and M. Mesbahi},
  title = {Graph-Theoretic Analysis and Synthesis of Relative Sensing Networks},
  journal = {IEEE Trans.\ Autom.\ Control},
  year = {2011},
  volume = {56},
  pages = {971-982},
  number = {5}
}

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