(:notitlegroup:) 

   @techreport{bnsl11,
    title     = {An Overview of MOOS-IvP and a Users Guide to the IvP Helm - Release 4.2.1},
    author    = {Michael R. Benjamin and Henrik Schmidt and Paul M. Newman and John J. Leonard},
    institution = {MIT Computer Science and Artificial Intelligence Lab},
    number    = {MIT-CSAIL-TR-2011-037},
    month     = {August},
    year      = {2011}}