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F.  Conticelli, Bicchi, A., and Balestrino, A., ?Observability and nonlinear observers for mobile robot localization?, in IFAC Int. Symp. on Robot Control, SyRoCo 2000, 2000. 

F.  Conticelli and Bicchi, A., ?Observer Design for Locally Observable Analytic Systems: Convergence, Separation Property, and Redundancy?, in Nonlinear Control in the Year 2000, vol. 258, A.  Isidori, Lamnabhi-Lagarrigue, F. F., and Respondek, W., Eds. Berlin Heidelberg, Germany: Springer-Verlag, 2000, pp. 315-330. 

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