Zhibin Liu Zongying Shi Mingguo Zhao Wenli Xu Adaptive Dynamic Clustered Particle Filtering for Mobile Robots Global Localization. 57-85 2008 53 Journal of Intelligent and Robotic Systems 1 http://dx.doi.org/10.1007/s10846-008-9229-2 db/journals/jirs/jirs53.html#LiuSZX08