@INPROCEEDINGS{LazaroIAV13,
author = {M.T. L\'azaro and L.M. Paz and P. Pini\'es and J.A. Castellanos}, 
title = {Distributed Localization and Submapping for Robot Formations using a prior map}, 
booktitle = {The 2013 IFAC Intelligent Autonomous Vehicles Symposium}, 
month = {June 26-28}, 
year = {2013}, 
address = {Gold Coast, Australia},
doi = {10.3182/20130626-3-AU-2035.00022}
}