Real-Time FTM-Based Victim Positioning System Using Heterogeneous Robots in Remote and Outdoor Scenarios by Juan Bravo-Arrabal, Carlos Simon Alvarez-Merino, Manuel Toscano-Moreno, Javier Seron-Barba, J. J. Fernandez-Lozano, Jose Antonio Gomez-Ruiz, Emil J. Khatib, Raquel Barco, Alfonso Garcia-Cerezo

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