(:notitlegroup:) 

   @article{blcn06,
    title     = {A Method for Protocol-Based Collision Avoidance between Autonomous Marine
                Vehicles},
    author    = {Michael Benjamin and John Leonard and Joe Curcio and Paul Newman},
    journal   = {Journal of Field Robotics},
    pages     = {333 - 346},
    number    = {5},
    volume    = {23},
    month     = {May},
    year      = {2006}}