This video is associated with the papers:
Leung K Y K, Barfoot T D, and Liu H H T. "Decentralized Localization of Sparsely-Communicating Robot
Networks: A Centralized-Equivalent Approach". IEEE Transactions on Robotics, 26(1):62--77, February 2010.
http://asrl.utias.utoronto.ca/~tdb/sbib/leung_tro10.pdf
Leung K Y K, Barfoot T D, and Liu H H T. Decentralized Localization for General Robot Networks. In Proceedings of the International Conference on Robotics and Automation (ICRA), pages 3135-3141. Kobe, Japan, 12-17 May 2009.
http://asrl.utias.utoronto.ca/~tdb/sbib/leung_icra09.pdf
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