Arnaud Clerentin Mélanie Delafosse Laurent Delahoche Bruno Marhic Anne-Marie Jolly-Desodt Uncertainty and imprecision modeling for the mobile robot localization problem. 267-283 2008 24 Auton. Robots 3 http://dx.doi.org/10.1007/s10514-007-9066-3 db/journals/arobots/arobots24.html#ClerentinDDMJ08