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@TECHREPORT{,
       author = {Cruz-Martín, Elena and Fernández-Madrigal, Juan-Antonio and Gonzalez-Jimenez, Javier},
        month = may,
        title = {AGV localization using UWB and GPS ranging. Mathematical bases and framework for application},
         year = {2006},
  institution = {System Engineering and Automation Dpt. - University of Málaga (Spain)}
}