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   @article{bsnl10,
    title     = {Nested Autonomy for Unmanned Marine Vehicles with MOOS-IvP},
    author    = {Michael R. Benjamin and Henrik Schmidt and Paul M. Newman and John J. Leonard},
    journal   = {Journal of Field Robotics},
    pages     = {834-875},
    number    = {6},
    volume    = {27},
    month     = {November/December},
    year      = {2010}}