A.  Bicchi, Conticelli, F., and Prattichizzo, D., ?Localization Of Vehicles By Sensory Information?, in Proc. WAC Int. Symp. on Robotics and Applications, 2000, pp. 68-73. 

A.  Bicchi, Prattichizzo, D., Marigo, A., and Balestrino, A., ?On the observability of mobile vehicles localization?, in Proc. IEEE Mediterranean Conf. On Control And Systems, 1998.