(:notitlegroup:) 

   @techreport{bnsl09b,
    title     = {An Overview of MOOS-IvP and a Brief Users Guide to the IvP Helm Autonomy
                Software},
    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-2009-028},
    month     = {June},
    year      = {2009}}