@TECHREPORT{saigoletal2009tr,
 author = {Zeyn A. Saigol and Richard W. Dearden and Jeremy L. Wyatt and Bramley
 J. Murton},
 title = {Information-Lookahead Planning for {AUV} Mapping},
 institution = {School of Computer Science, University of Birmingham},
 year = {2009},
 number = {CSR-09-01},
 month = {April}
 url = {ftp://ftp.cs.bham.ac.uk/pub/tech-reports/2009/CSR-09-01.pdf}
}