1. Brooks, R. A. 1982. Symbolic Error and Robot Planning. Int. J. Robotics Res.
2. Chatila, R. and Laumond, J-P. 1985. Position Referencing and Consistent World Modeling for Mobile Robots. Proc. IEEE Int. Conf. Robotics and Automation. St. Louis: IEEE, pp. 138–145.
3. Gelb, A. 1984. Applied Optimal Estimation. M.I.T. Press
4. Nahi, N. E. 1976. Estimation Theory and Applications. New York: R.E. Krieger.
5. Papoulis, A. 1965. Probability, Random Variables, and Stochastic Processes. McGraw-Hill.