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@TECHREPORT{,
       author = {Moreno, Francisco-Angel and Martínez, Jorge and Gonzalez-Jimenez, Javier},
        month = oct,
        title = {Localization of a mobile robot from odometry and UWB measurements with Extended Kalman filters},
         year = {2006},
  institution = {System Engineering and Automation Dpt. - University of Málaga (Spain)}
}