@article {1407, title = {Localization of autonomous underwater vehicles by floating acoustic buoys: a set-membership approach}, journal = {IEEE JOURNAL OF OCEANIC ENGINEERING}, volume = {30}, year = {2005}, pages = {140{\textendash}152}, keywords = {Robotics}, issn = {0364-9059}, author = {A. Caiti and A. Garulli and F. Livide and D Prattichizzo} }