@inbook {lourenco:2017:slambook,
	title = {Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles},
	year = {2017},
	note = {n/a},
	pages = {121-141},
	publisher = {Springer},
	organization = {Springer},
	chapter = {New Design Techniques for Globally Convergent Simultaneous Localization and Mapping: Analysis and Implementation},
	abstract = {n/a},
	isbn = {978-3-319-55372-6},
	doi = {http://doi.org/10.1007/978-3-319-55372-6_6},
	author = {P. Louren{\c c}o and B. J. Guerreiro and P. Batista and P. Oliveira and Silvestre, C.},
	editor = {Thor I. Fossen and Kristin Y. Pettersen and Henk Nijmeijer}
}
