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@ARTICLE{,
    author = {Blanco, Jos{\'{e}}-Luis and Fern{\'{a}}ndez-Madrigal, Juan-Antonio and Gonz{\'{a}}lez-Jim{\'{e}}nez, Javier},
     title = {A Novel Measure of Uncertainty for Mobile Robot SLAM with Rao-Blackwellized Particle Filters},
   journal = {International Journal of Robotics Research},
    volume = {27},
    number = {1},
      year = {2008},
      issn = {0278-3649},
       doi = {10.1177/0278364907082610},
     pages = {73--81}
}