@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}
}