Haruo Takeda Maximum-likelihood estimation of a sensor configuration in a polygonal environment. 30-38 2000 31 Systems and Computers in Japan 1 http://dx.doi.org/10.1002/(SICI)1520-684X(200001)31:1<30::AID-SCJ4>3.0.CO;2-9 db/journals/scjapan/scjapan31.html#Takeda00