@techreport{bnsl11, title = {An Overview of MOOS-IvP and a Users Guide to the IvP Helm - Release 4.2.1}, author = {Michael R. Benjamin and Henrik Schmidt and Paul M. Newman and John J. Leonard}, institution = {MIT Computer Science and Artificial Intelligence Lab}, number = {MIT-CSAIL-TR-2011-037}, month = {August}, year = {2011}}