@InProceedings{robotica07,
  author = {H. Ferreira and R. Martins and E. R. B. Marques and J. Pinto and A. O. Martins and J. M. Almeida and J. B. Sousa and E. P. Silva},
  title={{Marine Operations with the SWORDFISH Autonomous Surface Vehicle}},
  booktitle={Proc.\ IEEE Robótica},
  publisher={IEEE},
  year={2007},
}