A Bayesian Algorithm for Simultaneous Localisation and Map Building. - Hugh F. Durrant-Whyte; Somajyoti Majumder; Sebastian Thrun; Marc De Battista; Steve Scheding (ISRR, 2001)

A navigation framework for multiple mobile robots and its application at the Expo.02 exhibition. - Kai Oliver Arras; Roland Philippsen; Nicola Tomatis; Marc De Battista; Martin Schilt; Roland Siegwart (ICRA, 2003)