@InProceedings{Kim10ICRA,
author={B. Kim and M. Kaess and L. Fletcher and J. Leonard and A. Bachrach
                  and N. Roy and S. Teller},
booktitle={Proceedings of the IEEE International Conference
                  on Robotics and Automation (ICRA)},
title={Multiple relative pose graphs for robust
                  cooperative mapping},
address="Anchorage, AK",
year={2010},
month={May},
pages={3185 -3192},
}