K.R. Muske and J.W. Howse, 

<B>Comparison of recursive estimation techniques for position tracking
   radioactive sources</B>.
   
Los Alamos National Laboratory Techinical Report LA-UR-00-4497.
Proceedings of the 2001 American Control Conference, 
Arlington, VA, June 2001, pp. 1656-1660, 2001.

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