(:notitlegroup:) 

   @techreport{bnsl09c,
    title     = {Extending MOOS-IvP and Users Guide to the IvPBuild Toolbox},
    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-2009-037},
    month     = {August},
    year      = {2009}}