@techreport{bnsl09c,
title = {Extending MOOS-IvP and Users Guide to the IvPBuild Toolbox},
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-2009-037},
month = {August},
year = {2009}}