Maximum Likelihood Attitude and Position Estimation from Pseudo-Range Measurements using Geometric Descent Optimization. - Alex Alcocer Peñas; Paulo Oliveira 001; António M. Pascoal; João M. F. Xavier (CDC, 2006)

Estimation of Attitude and Position from Range-Only Measurements using Geometric Descent Optimization on the Special Euclidean Group. - Alex Alcocer Peñas; Paulo Jorge Ramalho Oliveira; António Manuel Santos Pascoal; João M. F. Xavier (FUSION, 2006)

A dynamic estimator on SE(3) using range-only measurements. - Alex Alcocer Peñas; Paulo Jorge Ramalho Oliveira; António Manuel Santos Pascoal; Rita Cunha; Carlos Silvestre (CDC, 2008)