@ARTICLE{swebster-2012a,
  author = {Sarah E. Webster and Ryan M. Eustice and Hanumant Singh and Louis.
	L. Whitcomb},
  title = {Advances in Single-Beacon One-Way-Travel-Time Acoustic Navigation
	for Underwater Vehicles},
  journal = International Journal Robotics Research,
  year = {2012},
  pages = {935--950},
  number = {8},
  month = {July},
  vol = {31}
}