@inproceedings{sun_et_al_robocup08,
   author = {D. Sun and A. Kleiner and T. M. Wendt},
   title = {Multi-Robot Range-Only SLAM by Active Sensor Nodes for Urban
	Search and Rescue},
   booktitle = {Robocup 2008: Robot Soccer World Cup XII},
   series = {Lecture Notes in Computer Science},
   volume = {5399},
   pages = {318--330},
   publisher = {Springer},
   year = {2009}
}