A self-localization estimation method with cooperating small robots Using camera positioning and movable landmarks. - Kiyohiko Hattori; Eri Homma; Naoki Tatebe; Toshinori Kagawa (IPIN, 2013)

Generalized measuring-worm algorithm: high-accuracy mapping and movement via cooperating swarm robots. - Kiyohiko Hattori; Eri Homma; Toshinori Kagawa; Masayuki Otani; Naoki Tatebe; Yasunori Owada; Lin Shan; Katsuhiro Temma; Kiyoshi Hamaguchi (Artif. Life Robotics, 2016)