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@BOOK{madrigal2012slambook,
     author = {Fern{\'{a}}ndez-Madrigal, Juan-Antonio and Blanco, Jos{\'{e}}-Luis},
      month = {{{{{sep}}}}},
      title = {Simultaneous Localization and Mapping for Mobile Robots: Introduction and Methods},
       year = {2012},
  publisher = {IGI Global},
       isbn = {9781466621046},
        url = {http://www.igi-global.com/book/simultaneous-localization-mapping-mobile-robots/66380},
        doi = {10.4018/978-1-4666-2104-6}
}