@article{Ahmad2016, title = {Moving-horizon Nonlinear Least Squares-based Multirobot Cooperative Perception}, author = {Ahmad, A and B{\"u}lthoff, HH}, journal = {Robotics and Autonomous Systems}, volume = {83}, pages = {275--286}, year = {2016}, doi = {10.1016/j.robot.2016.06.002} }