(:notitlegroup:) 

   @techreport{ben11,
    title     = {MOOS-IvP Autonomy Tools Users Manual Release 4.2.1},
    author    = {Michael R. Benjamin},
    institution = {MIT Computer Science and Artificial Intelligence Lab},
    number    = {MIT-CSAIL-TR-201136},
    month     = {July},
    year      = {2011}}