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2007
H. Ferreira, Martins, R., Marques, E. R. B., Pinto, J., Martins, A., Almeida, J. M., de Sousa, J. Borges, and Silva, E. P., “Marine operations with the swordfish autonomous surface vehicle”, in IEEE Rob{\{}ó{\}}tica 2007-7th Conference on Mobile Robots and Competitions, 2007.