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@ARTICLE{gonzalez2009mrl,
    author = {Gonzalez-Jimenez, Javier and Blanco, José-Luis and Galindo, Cipriano and Ortiz-de-Galisteo, Antonio and Fernández-Madrigal, Juan-Antonio and Moreno, Francisco-Angel and Martínez, Jorge},
     title = {Mobile Robot Localization based on Ultra-Wide-Band Ranging: A Particle Filter Approach},
   journal = {Robotics and Autonomous Systems},
    volume = {57},
    number = {5},
      year = {2009},
       url = {http://www.mrpt.org/Paper%3AUWB_Particle_Filter_Localization},
       doi = {10.1016/j.robot.2008.10.022},
     pages = {496--507}
}