Decentralised cooperative localisation for heterogeneous teams of mobile robots. - Tim Bailey; Mitch Bryson; Hua Mu; John Vial; Lachlan McCalman; Hugh F. Durrant-Whyte (ICRA, 2011)

Conservative sparsification for efficient and consistent approximate estimation. - John Vial; Hugh F. Durrant-Whyte; Tim Bailey (IROS, 2011)

Conservative Sparsification for Efficient Approximate Estimation. - John Vial (2014)