@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}}