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@incollection{schmidt2016, title = {Nested Autonomy for Distributed Ocean Sensing}, booktitle = {Springer Handbook of Ocean Engineering}, author = {Henrik Schmidt and Michael R. Benjamin and Stephanie M. Petillo and Raymond Lum}, editor = {Manhar R. Dhanak, Nikolas I. Xiros}, publisher = {Springer}, pages = {459--480}, year = {2016}}