Piecewise straight-line correlation algorithm for navigation of autonomous systems with robotics applications. - Arie Berman; Joshua Dayan (J. Intell. Robotic Syst., 1994)

Improved EKF Method of Estimating Locations with Sudden High Jumps in the Measurement Noise. - Arie Berman; Joshua Dayan; Bernard Friedland (J. Intell. Robotic Syst., 2001)