Samuel Van de Velde Henk Wymeersch Heidi Steendam Comparison of message passing algorithms for cooperative localization under NLOS conditions. 1-6 2012 WPNC https://doi.org/10.1109/WPNC.2012.6268729 conf/wpnc/2012 db/conf/wpnc/wpnc2012.html#VeldeWS12