@ARTICLE{BachrachJFR11, AUTHOR = {A. Bachrach and S. Prentice and R. He and N. Roy}, TITLE ={RANGE - Robust Autonomous Navigation in GPS-denied Environments}, JOURNAL = {Journal of Field Robotics}, YEAR = {2011}, VOLUME = {28}, NUMBER = {5}, PAGES = {644-666}, MONTH = {September} }