@techreport{bnsl10a,
title = {An Overview of MOOS-IvP and a 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-2010-041},
month = {August},
year = {2010}}