@INPROCEEDINGS{saigoletal2009ijcai,
 author = {Zeyn A. Saigol and Richard W. Dearden and Jeremy L. Wyatt and Bramley
 J. Murton},
 title = {Information-Lookahead Planning for {AUV} Mapping},
 booktitle = {Proceedings of the Twenty-first International Joint Conference on
 Artificial Intelligence (IJCAI-09)},
 year = {2009},
 URL = {http://www.cs.bham.ac.uk/~zas/IJCAI09InfoLookaheadAUV.pdf}
}