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Journal article, 2024

Embry-Riddle Aeronautical University has been selected as one of three schools to represent the United States in the inaugural Maritime RobotX Challenge. This challenge requires teams to develop a fully-autonomous surface vehicle using a 16-foot high-performance Wave Adaptive Modular Vessel. The platform must accomplish multiple complex tasks autonomously, including buoy channel navigation, debris avoidance, docking, target identification and sonar localization. The system architecture consists of software nodes running in parallel to produce the complex behaviors required by the RobotX Challenge. These nodes include state estimation, health monitoring, object classification, map creation and trajectory planning. This method offers a robust and dynamic navigation solution capable of being applied to autonomous systems operating in multiple domains and not just those limited to maritime operations. This presentation discusses the development of the ERAU RobotX platform with a focus on addressing the challenges of autonomy, navigation, and propulsion in a maritime environment.