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RoVaR: Robust Multi-agent Tracking through Dual-layer Diver..:

Dasari, Mallesham ; Sheshadri, Ramanujan K. ; Sundaresan, Karthikeyan.
Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies.  7 (2023)  1 - p. 1-25 , 2023
Link: https://doi.org/10.1145/3580854