@article {1409, title = {Set-membership acoustic tracking of autonomous underwater vehicles}, journal = {ACTA ACUSTICA UNITED WITH ACUSTICA}, volume = {88}, year = {2002}, pages = {648{\textendash}652}, keywords = {Robotics}, issn = {1610-1928}, author = {A. Caiti and A. Garulli and F. Livide and D Prattichizzo} }