Paolo Bison Gaetano Chemello Claudio Sossai Gaetano Trainito Using a structured beacon for cooperative position estimation. 33-40 1999 29 Robotics and Autonomous Systems 1 http://dx.doi.org/10.1016/S0921-8890(99)00036-6 db/journals/ras/ras29.html#BisonCST99