@InProceedings{Rekleitis2003d,
  author = 	 {Brad Lisien and Deryck Morales and David Silver and George Kantor and Ioannis Rekleitis and Howie Choset},
  title = 	 {Hierarchical Simultaneous Localization and Mapping},
  booktitle =	 {IEEE/RSJ/GI International Conference on Intelligent Robots and Systems},
  pages =	 {448--453},
  year =	 2003,
  address =	 {Las Vegas, NV},
  month =	 {Oct. 27-31},
  organization = {IEEE/RSJ}
}