Антипов, Владимир, 		Коковкина, Вера, 		Кирнос, Василий, 		Приоров, Андрей, AND 		Гурьянов, Егор.
" Problem solution of simultaneous localization and mapping using modifications of extended Kalman filter" <em>Radioengineering and telecommunication systems</em> [Online],  Number 4 (8 January 2020)