(:notitlegroup:) 

   @mastersthesis{rypkema2015ms,
    title     = {Distributed Autonomy and Formation Control of a Drifting Swarm of Autonomous
                Underwater Vehicles},
    author    = {Nicholas Rahardiyan Rypkema},
    address   = {Cambridge, Massachusetts},
    school    = {Massachusetts Institute of Technology and Woods Hole Oceanographic Institution Joint Program},
    month     = {September},
    year      = {2015}}