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@TECHREPORT{,
       author = {Moreno, Francisco-Angel and Blanco, José-Luis and Ortiz-de-Galisteo, Antonio and Martínez, Jorge and Gonzalez-Jimenez, Javier},
        month = apr,
        title = {UWB-based Global localization: Comparison between Particle Filter and Triangulation approaches},
         year = {2007},
  institution = {System Engineering and Automation Dpt. - University of Málaga (Spain)}
}