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@article{pastore2010, title = {Improving Autonomy and Control of Autonomous Surface Vehicles in Port Protection and Mine Countermeasure Scenarios}, author = {Thomas Pastore and Vladimir Djapic}, journal = {Journal of Field Robotics}, publisher = {Wiley Subscription Services, Inc., A Wiley Company}, pages = {903--914}, number = {6}, volume = {27}, year = {2010}}