@ARTICLE{ash:decomp:2007,
  author = {Joshua N. Ash and Randolph L. Moses},
  title = {On the Relative and Absolute Positioning Errors in Self-localization
	Systems},
  journal = {{IEEE} Trans. Signal Process.},
  year = {2008},
  volume = {56},
  pages = {5668--5679},
  number = {11}
}