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Mourikis, Anastasios I. and Roumelliotis, Stergios I. and Burdick, Joel W. (2007) SC-KF Mobile Robot Localization: A Stochastic Cloning Kalman Filter for Processing Relative-State Measurements. IEEE Transactions on Robotics, 23 (4). pp. 717-730. ISSN 1094-6977. http://resolver.caltech.edu/CaltechAUTHORS:MOUieeetr07

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