Sentry pallets for automated monitoring of spatial constraints: Models and initial experiments. Cudré-Mauroux, P., Fogel, M., Goldberg, K., & Franklin, M. IEEE International Conference on Robotics and Automation (ICRA\textquoteright06), Orlando, Florida, USA, 2006.
bibtex   
@article {cudre2006sentry,
  title = {Sentry pallets for automated monitoring of spatial constraints: Models and initial experiments},
  journal = {IEEE International Conference on Robotics and Automation (ICRA{\textquoteright}06), Orlando, Florida, USA},
  year = {2006},
  pages = {4396{\textendash}4398},
  author = {Philippe Cudr{\'e}-Mauroux and Fogel, M. and Goldberg, K. and Franklin, M.}
}
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