@ARTICLE{8680745,
  author={Guo, Kexin and Li, Xiuxian and Xie, Lihua},
  journal={IEEE Transactions on Cybernetics}, 
  title={Ultra-Wideband and Odometry-Based Cooperative Relative Localization With Application to Multi-UAV Formation Control}, 
  year={2020},
  volume={50},
  number={6},
  pages={2590-2603},
  doi={10.1109/TCYB.2019.2905570}}