@techreport{bnsl09b, title = {An Overview of MOOS-IvP and a Brief Users Guide to the IvP Helm Autonomy Software}, author = {Michael R. Benjamin and Paul M. Newman and Henrik Schmidt and John J. Leonard}, institution = {MIT Computer Science and Artificial Intelligence Lab}, number = {MIT-CSAIL-TR-2009-028}, month = {June}, year = {2009}}