(:notitlegroup:) 

   @techreport{bnsl09a,
    title     = {A Tour of MOOS-IvP Autonomy Software Modules},
    author    = {Michael R. Benjamin and Paul M. Newman and Henrik Schmidt and John J. Leonard},
    institution = {MIT Computer Science and Artificial Intelligence Lab},
    number    = {MIT-CSAIL-TR-2009-006},
    month     = {January},
    year      = {2009}}