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   @mastersthesis{ardhaoui2011ms,
    title     = {Implementation of Autonomous Navigation and Mapping Using a Laser Line Scanner
                on a Tactical Unmanned Aerial Vehicle},
    author    = {Mejdi Ben Ardhaoui},
    address   = {Monterey, California},
    school    = {Naval Postgraduate School},
    month     = {December},
    year      = {2011},
    abstract  = {The objective of this thesis is to investigate greater levels of autonomy in
                unmanned vehicles. This is accomplished by reviewing past literature about the
                developing of components of software architecture that are necessary for
                unmanned systems to achieve greater autonomy.  The thesis presents
                implementation studies of existing sensor-based robotic navigation and mapping
                algorithms in both software and hardware, including a laser range finder, on a
                quadrotor unmanned aerial vehicle platform for real-time obstacle detection
                and avoidance.  This effort is intended to lay the groundwork to begin
                critical evaluation of the strengths and weaknesses of the MOOS-IVP autonomy
                architecture and provide insight into what is necessary to achieve greater
                levels of intelligent autonomy in current and future unmanned systems.}}