Continue research and development of the perception, commuciation and navigation systems of the autonomous surface vessels for maritime and oceanographic data collection. Additionally, development is required for a pontoon boat and land based, tripod mounted systems, consisting of cameras, radars and INS systems to allow collection of data of water surfaces (lakes and the littoral ocean environment) which is used to provide environmental measurements (surface currents, wave heights, etc). Documenting technical results, and presentating the results in project meetings and conferences. Assistance in proposal preparations, journal article preparation, and supervising undergraduate and graduate students.