Ergodic Algorithms on Special Euclidean Groups for ATR

Srivastava, S., Miller, M. I., & Grenander, U. (1997). Ergodic Algorithms on Special Euclidean Groups for ATR. In Systems and Control in the Twenty-First Century (pp. 327–350). Birkhäuser Boston. https://doi.org/10.1007/978-1-4612-4120-1_18