@article {1292,
	title = {RT2: Real Time Ray Tracing for Underwater range Evaluation},
	journal = {INTELLIGENT SERVICE ROBOTICS},
	volume = {4},
	year = {2011},
	keywords = {Robotics},
	issn = {1861-2776},
	doi = {10.1007/s11370-011-0093-8},
	url = {http://dx.medra.org/10.1007/s11370-011-0093-8},
	author = {G. Casalino and A. Caiti and E. Simetti and A. Turetta}
}
