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Montemerlo, M., and S. Thrun. \i Simultaneous localization and mapping with unknown data association using Fast SLAM\i0  In \i IEEE International Conference on Robotics and Automation\i0 ., 2003.\par \par Thrun, S., D. Fox, W. Burgard, and F. Dellaert. "Robust Monte Carlo localization for mobile robots." \i Artificial Intelligence\i0  128 (2001): 99-141.\par \par Fox, D., W. Burgard, and S. Thrun. "Active Markov localization for mobile robots." \i Robotics and Autonomous Systems\i0  25, no. 12 (1998): 195-207.\par \par }