@inproceedings{ijcai2003p163,
  title     = {Consistent, Convergent, and Constant-Time SLAM},
  author    = {Leonard, John J. and Newman, Paul M.},
  booktitle = {Proceedings of the Eighteenth International Joint Conference on
               Artificial Intelligence, {IJCAI-03}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {Georg Gottlob},
  pages     = {1143--1149},
  year      = {2003},
  url       = {https://ijcai.org/proceedings/2003/163},
}