SLAM-Related Publications (most with Simon Julier):
Using Covariance Intersection for SLAM
Using Multiple SLAM Algorithms
A Counter Example to the Theory of Simultaneous Localization and Map Building
Simultaneous Localisation and Map Building Using Split Covariance Intersection
Building a Million-Beacon Map
Real Time Distributed Map Building in Large Environments
A Sub-Optimal Algorithm for Automatic Map Building
Nondivergent Simultaneous Map Building and Localization using Covariance Intersection

My Oxford Doctoral Dissertation:
Abstract & Table of Contents
Scan of Full Dissertation (size is ~50M)