diff --git a/README.md b/README.md
index 2eea3cbeaee..64125080c7f 100644
--- a/README.md
+++ b/README.md
@@ -45,71 +45,71 @@ Please thank our amazing sponsors for their generous support of Nav2 on behalf o
 If you use the navigation framework, an algorithm from this repository, or ideas from it
 please cite this work in your papers!
 
- - S. Macenski, F. Martín, R. White, J. Clavero. [**The Marathon 2: A Navigation System**](https://arxiv.org/abs/2003.00368). IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.
-
- ```bibtex
- @InProceedings{macenski2020marathon2,
-   title = {The Marathon 2: A Navigation System},
-   author = {Macenski, Steve and Martín, Francisco and White, Ruffin and Ginés Clavero, Jonatan},
-   year = {2020},
-   booktitle = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
-   url = {https://github.com/ros-planning/navigation2},
-   pdf = {https://arxiv.org/abs/2003.00368}
- }
-```
+- S. Macenski, F. Martín, R. White, J. Clavero. [**The Marathon 2: A Navigation System**](https://arxiv.org/abs/2003.00368). IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.
+
+  ```bibtex
+  @inproceedings{macenski2020marathon2,
+    title     = {The Marathon 2: A Navigation System},
+    author    = {Macenski, Steve and Martín, Francisco and White, Ruffin and Ginés Clavero, Jonatan},
+    year      = {2020},
+    booktitle = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
+    url       = {https://github.com/ros-planning/navigation2},
+    pdf       = {https://arxiv.org/abs/2003.00368}
+  }
+  ```
 
 If you use **any** of the algorithms in Nav2 or the analysis of the algorithms in your work, please cite this work in your papers!
 
 - S. Macenski, T. Moore, DV Lu, A. Merzlyakov, M. Ferguson, [**From the desks of ROS maintainers: A survey of modern & capable mobile robotics algorithms in the robot operating system 2**](https://arxiv.org/pdf/2307.15236.pdf), Robotics and Autonomous Systems, 2023.
 
-```bibtex
+  ```bibtex
   @article{macenski2023survey,
-        title={From the desks of ROS maintainers: A survey of modern & capable mobile robotics algorithms in the robot operating system 2},
-        author={S. Macenski, T. Moore, DV Lu, A. Merzlyakov, M. Ferguson},
-        year={2023},
-        journal = {Robotics and Autonomous Systems}
+    title   = {From the desks of ROS maintainers: A survey of modern & capable mobile robotics algorithms in the robot operating system 2},
+    author  = {S. Macenski, T. Moore, DV Lu, A. Merzlyakov, M. Ferguson},
+    year    = {2023},
+    journal = {Robotics and Autonomous Systems}
   }
-```
+  ```
 
 If you use the Smac Planner (Hybrid A*, State Lattice, 2D), please cite this work in your papers!
 
 - S. Macenski, M. Booker, J. Wallace, [**Open-Source, Cost-Aware Kinematically Feasible Planning for Mobile and Surface Robotics**](https://arxiv.org/abs/2401.13078). 2024.
 
-```bibtex
-@article{macenski2024smac,
-      title={Open-Source, Cost-Aware Kinematically Feasible Planning for Mobile and Surface Robotics},
-      author={Steve Macenski and Matthew Booker and Josh Wallace},
-      year={2024},
-      journal = {Arxiv}
-}
-```
+  ```bibtex
+  @article{macenski2024smac,
+    title   = {Open-Source, Cost-Aware Kinematically Feasible Planning for Mobile and Surface Robotics},
+    author  = {Steve Macenski and Matthew Booker and Josh Wallace},
+    year    = {2024},
+    journal = {Arxiv}
+  }
+  ```
 
 If you use the Regulated Pure Pursuit Controller algorithm or software from this repository, please cite this work in your papers!
 
 - S. Macenski, S. Singh, F. Martin, J. Gines, [**Regulated Pure Pursuit for Robot Path Tracking**](https://arxiv.org/abs/2305.20026). Autonomous Robots, 2023.
 
-```bibtex
-@article{macenski2023regulated,
-      title={Regulated Pure Pursuit for Robot Path Tracking},
-      author={Steve Macenski and Shrijit Singh and Francisco Martin and Jonatan Gines},
-      year={2023},
-      journal = {Autonomous Robots}
-}
-```
-
- If you use our work on VSLAM and formal comparisons for service robot needs, please cite the paper:
-
- - A. Merzlyakov, S. Macenski. [**A Comparison of Modern General-Purpose Visual SLAM Approaches**](https://arxiv.org/abs/2107.07589). IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
-
- ```bibtex
- @InProceedings{vslamComparison2021,
-   title = {A Comparison of Modern General-Purpose Visual SLAM Approaches},
-   author = {Merzlyakov, Alexey and Macenski, Steven},
-   year = {2021},
-   booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
-   pdf = {https://arxiv.org/abs/2107.07589}
- }
-```
+  ```bibtex
+  @article{macenski2023regulated,
+    title   = {Regulated Pure Pursuit for Robot Path Tracking},
+    author  = {Steve Macenski and Shrijit Singh and Francisco Martin and Jonatan Gines},
+    year    = {2023},
+    journal = {Autonomous Robots}
+  }
+  ```
+
+If you use our work on VSLAM and formal comparisons for service robot needs, please cite the paper:
+
+- A. Merzlyakov, S. Macenski. [**A Comparison of Modern General-Purpose Visual SLAM Approaches**](https://arxiv.org/abs/2107.07589). IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
+
+  ```bibtex
+  @inproceedings{vslamComparison2021,
+    title     = {A Comparison of Modern General-Purpose Visual SLAM Approaches},
+    author    = {Merzlyakov, Alexey and Macenski, Steven},
+    year      = {2021},
+    booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
+    pdf       = {https://arxiv.org/abs/2107.07589}
+  }
+  ```
 
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