@article{beinhofer13ras,
title = "Effective Landmark Placement for Accurate and Reliable Mobile Robot Navigation",
author = "Maximilian Beinhofer and J{\"o}rg M{\"u}ller and Wolfram Burgard",
journal = "Robotics and Autonomous Systems (RAS)",
volume = "61",
number = "10",
pages = "1060 - 1069",
year = "2013",
doi = "10.1016/j.robot.2012.08.009",
issn = "0921-8890",
url = {http://ais.informatik.uni-freiburg.de/publications/papers/beinhofer13ras.pdf},
}