@INPROCEEDINGS{liao2003voronoi,
  author    = "Lin Liao and Dieter Fox and Jeffrey Hightower and Henry Kautz and Dirk Schulz",
  title     = "Voronoi Tracking: Location Estimation using Sparse and Noisy Sensor Data",
  organization = "IEEE/RSJ",
  booktitle = "Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
  pages      = "723-728",
  month      = "October",
  year      = {2003}
}