M.L. Muñoz, S. Garrido, D. Blanco, L. Moreno. Global Localization based on a Rejection Differential Evolution Filter. http://www.intechopen.com/download/pdf/pdfs_id/10583, Robot Localization and Map Building. ISBN: 978-953-7619-83, I-Tech Education and Publishing. Viena. Austria. pages: 91 - 117. . 2009.