@inproceedings{macenski2020marathon, title={The Marathon 2: A Navigation System}, url={http://dx.doi.org/10.1109/iros45743.2020.9341207}, DOI={10.1109/iros45743.2020.9341207}, booktitle={2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, publisher={IEEE}, author={Macenski, Steve and Martin, Francisco and White, Ruffin and Clavero, Jonatan Gines}, year={2020}, month=oct, pages={2718–2725} }