A method for protocol-based collision avoidance between autonomous marine surface craft by Benjamin, MR, Leonard, J, Curcio, J, Newman, P

Navigation of unmanned marine vehicles in accordance with the rules of the road by Benjamin, MR, Curcio, J, Leonard, J, Newman, P

Nested Autonomy for Unmanned Marine Vehicles with MOOS-IvP by Benjamin, MR, Schmidt, H, Newman, P, Leonard, J