@inproceedings{bahr09,
   Title = {Consistent Cooperative Localization},
   Author = {Bahr, A. and Walter, M.R. and Leonard, J.J.},
   Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
   Pages = {3415--3422},
   Address = {Kobe, Japan},
   Month = {May},
   Year = {2009}}