I would like to emphasize one point that I mentioned in my paper. When we talk about the poor, the main issue should not be how to construct buildings for them. Low-cost housing has failed continuously every where in the third world because it is not affordable. When you build low-cost housing, you are effectively building housing for the middle class. It is a fact of life.
Land is available - the city authority has land, the government has land.
How you assign this land is something that is up to each country to decide. You may not need to assign the actual legal title to the poor. They are not interested in land tenure in terms of stability. They want land, they want water and they want jobs. They can take care of everything else themselves.