@article{benjamin2006b,
title = {Navigation of Unmanned Marine Vehicles in Accordance with the Rules of the
Road.},
author = {Michael R. Benjamin and Joseph A. Curcio and Paul M. Newman},
journal = {Proceedings 2006 IEEE International Conference on Robotics \& Automation,
2006. ICRA 2006},
address = {Orlando, FL},
pages = {3581},
month = {May},
year = {2006}}