@InProceedings{MCMC06, author = {E. R. B. Marques and G. M. Gon\c{c}alves and J. B. Sousa}, title={{Seaware}: A Publish/Subscribe Communications Middleware for Networked Vehicle Systems}, booktitle={Proc. IFAC Conference on Manoeuvring and Control of Marine Craft (MCMC)}, year={2006}, publisher={IFAC} }