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M. Minami, Y. Fukuju, K. Hirasawa, S. Yokoyama, M. Mizumachi, H. Morikawa, and T. Aoyama, “Dolphin: A practical approach for implementing a fully distributed indoor ultrasonic positioning system,” Lecture Notes for Computer Science (LNCS), Vol. 3205, pp. 347–365, 2004.

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