@ARTICLE{bsnl10,
   author = "Michael R. Benjamin and Henrik Schmidt and Paul M. Newman 
            and John J. Leonard",
   title = "{Nested Autonomy for Unmanned Marine Vehicles with MOOS-IvP}",
   journal = "Journal of Field Robotics",
   year = "2010",
   volume = "27",
   number = "6",
   pages = "834-875",
   month = "November/December"
 }