@techreport{Spero07a,
  author =       "D. J. Spero and R. A. Jarvis",
  title =	 "Simultaneous Localisation and Map Building: The
                  Kidnapped Way",
  institution =	 "Department of Electrical and Computer Systems
                  Engineering, Monash University",
  address =	 "Melbourne, Australia",
  number =	 "MECSE-3-2007",
  month =	 "20 Jan.",
  year =	 2007,
  url =		 "http://www.ds.eng.monash.edu.au/techrep/reports/"
}