@inproceedings{cole2021oceans,
    title     = {Surface Vessel Collision Avoidance in MOOS-IvP using a Geodetic Unscented
                Kalman Filter},
    booktitle = {OCEANS 2021 MTS/IEEE},
    author    = {Blake Cole and Michael Benjamin},
    school    = {Massachusetts Institute of Technology},
    month     = {October},
    year      = {2021}}