Utilizing an improved rotorcraft dynamic model in state estimation. - Robert C. Leishman; Jeff Ferrin; Timothy W. McLain; John Macdonald; Stephen Quebe; Randal W. Beard (IROS, 2011)

Graph-Based Observability Analysis of Bearing-Only Cooperative Localization. - Rajnikant Sharma; Randy W. Beard; Clark N. Taylor; Stephen Quebe (IEEE Trans. Robotics, 2012)

Bearing-only Cooperative Localization - Simulation and Experimental Results. - Rajnikant Sharma; Stephen Quebe; Randal W. Beard; Clark N. Taylor (J. Intell. Robotic Syst., 2013)