@INPROCEEDINGS{LazaroICRA10,
author = {M.T. L\'azaro and J.A. Castellanos}, 
title = {Localization of Probabilistic Robot Formations in {SLAM}}, 
booktitle = {2010 IEEE International Conference on Robotics and Automation}, 
month = {May 3-8}, 
year = {2010}, 
pages = {3179-3184}, 
address = {Anchorage, Alaska}, 
doi = {10.1109/ROBOT.2010.5509213}
}