@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}
   }