\input zb-basic
\input zb-ioport
\iteman{io-port 70407804}
\itemau{Trawny, Nikolas; Roumeliotis, Stergios I.}
\itemti{On the global optimum of planar, range-based robot-to-robot relative pose estimation}
\itemso{ICRA, 3200-3206 (2010).}
\itemcc{}
\itemut{}
\itemli{doi:10.1109/ROBOT.2010.5509541}
\end