References

@article{Benjamin2012,

title     = {MOOS-IvP autonomy software for marine robots},
author    = {Benjamin, Michael R. and Curcio, Joseph A. and Leonard, John J.},
journal   = {Journal of Field Robotics},
volume    = {29},
number    = {6},
pages     = {821--835},
year      = {2012}

}