@inbook {Tyce1986,
	title = {{Deep-ocean pathfinding {\textendash} high resolution mapping and navigation}},
	booktitle = {Oceans {\textquoteright}86},
	volume = {5},
	year = {1986},
	pages = {163{\textendash}168},
	publisher = {IEEE},
	organization = {IEEE},
	address = {New York, N.Y.},
	doi = {10.1109/OCEANS.1986.1160553},
	url = {http://dx.doi.org/10.1109/OCEANS.1986.1160553},
	author = {Tyce, R and Miller, J and Edwards, R and Silver, A}
}
