Multi-vehicle localisation with additive compressed factor graphs. - Lachlan Toohey; Oscar Pizarro; Stefan B. Williams (IROS, 2014)

Bounding Drift in Cooperative Localisation Through the Sharing of Local Loop Closures. - Lachlan Toohey; Oscar Pizarro; Stefan B. Williams (ICRA, 2018)

Sampling-Based Path Planning for Cooperative Autonomous Maritime Vehicles to Reduce Uncertainty in Range-Only Localization. - Jonatan Scharff Willners; Lachlan Toohey; Yvan R. Petillot (IEEE Robotics Autom. Lett., 2019)