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Effect of Beacon Orientation on Beacon Placement Strategies in the Ultrasonic Positioning System Journal article
ROBOTICS AND AUTONOMOUS SYSTEMS, 2013,Volume: 61,Issue: 6,Page: 648-658
Authors:  Dai, B.;  Fu, Q.;  Neville K.S.Lee
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Beacon Orientation  Non-perpendicular Placement  Multiple Transducers Clustering  Ultrasonic Positioning System