Multirobot Localisation Using Interlaced Extended Kalman Filter. Panzieri, S., Pascucci, F., & Setola, R. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, October 9-15, 2006, Beijing, China, pages 2816–2821, 2006. IEEE.
Multirobot Localisation Using Interlaced Extended Kalman Filter [link]Paper  doi  bibtex   
@inproceedings{DBLP:conf/iros/PanzieriPS06,
  author    = {Stefano Panzieri and
               Federica Pascucci and
               Roberto Setola},
  title     = {Multirobot Localisation Using Interlaced Extended Kalman Filter},
  booktitle = {2006 {IEEE/RSJ} International Conference on Intelligent Robots and
               Systems, {IROS} 2006, October 9-15, 2006, Beijing, China},
  pages     = {2816--2821},
  publisher = {{IEEE}},
  year      = {2006},
  url       = {https://doi.org/10.1109/IROS.2006.282065},
  doi       = {10.1109/IROS.2006.282065},
  timestamp = {Wed, 16 Oct 2019 14:14:51 +0200},
  biburl    = {https://dblp.org/rec/conf/iros/PanzieriPS06.bib},
  bibsource = {dblp computer science bibliography, https://dblp.org}
}

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