(:notitlegroup:) 

   @article{hs_jua_09,
    title     = {Nested Autonomy - A Concept of Operations for Distributed, Undersea Acoustic
                Surveillance},
    author    = {Henrik Schmidt and Donald P. Eickstedt and Arjuna Balasuriya and David Battle
                 and Michael R. Benjamin},
    journal   = {U.S. Navy Journal of Underwater Acoustics},
    year      = {2009}}