António Sérgio Ferreira Maria Costa Frédéric Py José Pinto Mónica Silva Alex Nimmo-Smith Tor Arne Johansen João Borges de Sousa Kanna Rajan October 2018 Advancing multi-vehicle deployments in oceanographic field experiments. Auton Robot 43, 1555–1574 https://link.springer.com/article/10.1007/s10514-018-9810-x https://doi.org/10.1007/s10514-018-9810-x