3.2 Task Descriptions
This section provides details of the tasks in the Autonomy Challenge. Teams are encouraged to develop a strategy approaching these tasks that best suits the capabilities of their ASV.
Storm Response: Technology in Action for Recovery and Relief
The 2026 Mission is based on the following scenario: operations in a harbor environment recovering from a major storm. ASVs are used to demonstrate surface navigation, debris avoidance, target identification, and collaborative behaviors as they contribute to restoring marine operations and responding to critical zones.
Assessment & Discovery: Tasks involving obstacle navigation, pylon inspection, and wreckage/debris identification simulate the urgent need for rapid assessment of damage following a storm. These missions reflect how autonomous vessels might support situational awareness in dangerous or hard-to-reach environments.
Recovery & Delivery: Tasks like Emergency Response Sprint and Harbor Alert mimic real-world missions where rapid action is necessary to prevent further harm and begin rebuilding efforts. These simulate coordination with relief teams and accurate, repeatable delivery of materials.
Environmental & Public Safety: Debris Clearance and Navigate the Marina tasks simulate crucial post-disaster actions—like identifying water contamination and clearing navigation hazards—that help restore safe conditions for both rescue teams and the public.
3.2.1 Task 1 - Evacuation Route & Return
Entry & Exit Gates
The Evacuation Route and Return task is a navigation demonstration showcasing the basic autonomous control and sensing capabilities. The ASV must autonomously navigate through two pairs of red and green buoys. The entire ASV must pass through both sets of the gates, without touching the buoys. The ASV must start its autonomous navigation a minimum of 6 ft. before the first set of gates.
During the Semi-Finals/Finals Round: This task is mandatory for all teams to qualify for semi-finals and is required to be completed first during each scored run. Additional points may be earned for exiting through gates at the end of the run.
Capability Matrix
Core: Navigate through two pairs of gates
No Advanced or Disruptive levels for this task.
Communications & Reporting
The ASV reports on the following for this task:
Time and position of completion of entry gates (start of run)
Time and position of completion of exit gates (end of run)
Defined reporting guidelines are available in Section 3.3: Communications Protocol.
Task Elements
Buoys are supplied from Taylor Made, www.taylormadeproducts.com.
Port Marker Buoy
Taylor Made Sur-Mark Buoy
950410
Red
39in
(above waterline)
18in
Starboard Marker Buoy
Taylor Made Sur-Mark Buoy
950400
Green
39in
(above waterline)
18in
3.2.2 Task 2 - Debris Clearance
Navigation Channel
The Debris Clearance task simulates designated emergency boat lanes cleared after a storm, to enter a debris field. The ASV must sense and maneuver through the channel, staying within the defined pathway, and avoiding contact with obstacles along the way. The ASV enters the debris field and scans for floating debris hazards (black buoy represents debris; dynamic scattered color indicator buoys):
Red color indicator = hazard to avoid and report location
Green color indicator = survivor to rescue, circle (full 360), and report
After scanning and reporting hazards in debris field, the ASV returns through the channel.
The task consists of multiple sets of gates designated by pairs of red and green buoys. The debris field is made up of black obstacle buoys and color indicator buoys.
Capability Matrix
Core: Transit channel, enter debris field, avoid debris, and return through channel.
Advanced: Detect and interact correctly with red or green debris.
Disruptive: Reports location (lat/long) of all debris (color indicator buoys and black buoys).
Communications & Reporting
The ASV reports on the following for this task:
Color and location of color indicators
Location of all buoys in the debris field
Defined reporting guidelines are available in Section 3.3: Communications Protocol.
Task Elements
Buoys are supplied from Polyform US, shop.polyform.com.
Gate Buoy
Polyform A-0
A-0
Classic Red
0.5 ft
(above waterline)
20.3 cm
Gate Buoy
Polyform A-0
A-0
Green
0.5 ft
(above waterline)
20.3 cm
Obstacle Buoy
Polyform A-0
A-0
Black
0.5 ft
(above waterline)
20.3 cm
Single Color Cylinder on custom buoy
Custom built
Red / Green
1 ft (above waterline)
18 in square
Coroplast floating vessels
Custom built
Yellow / Black
Full dimensions and plans can be found in Data Sharing
3.2.3 Task 3 - Emergency Response Sprint
Speed Challenge
The ASV must locate the entrance/exit gate marked by green and red buoys. ASV passes through the gate buoys, maneuvers around the yellow buoy as specified by the color indicator, and exits through the gate buoys, as quickly as possible.
Red color indicator = circle the buoy from the right (counter-clockwise)
Green color indicator = circle the buoy from the left (clockwise)
The ASV demonstrates the ability to rapidly sense the task elements with visual recognition and decision making. This task demonstrates hull form efficiency coupled with its propulsion system, and the resulting maneuverability.
Capability Matrix:
Core: Pass through gate, circle yellow buoy, and exit through gate.
Advanced: Circle yellow buoy in correct direction indicated by color indicator buoy.
Disruptive: Report color of indicator and time of response.
Communications
The ASV reports on the following for this task:
Color of color indicator
Time to complete task
Defined reporting guidelines are available in Section 3.3: Communications Protocol.
Task Elements
Buoys are supplied from Polyform US, shop.polyform.com.
Gate Buoy
Polyform A-2
A-2
Classic Red
1 ft
(above waterline)
36.8 cm
Gate Buoy
Polyform A-2
A-2
Green
1 ft
(above waterline)
36.8 cm
Single Color Cylinder on custom buoy
Custom built
Red / Green (color indicator) White with black diamonds (buoy)
1 ft
(above waterline)
18 in square
Obstacle Buoy
Polyform A-2
A-2
Black
1 ft
(above waterline)
36.8 cm
Coroplast floating vessels
Custom built
Yellow / Black
Full dimensions and plans can be found in Data Sharing
3.2.4 Task 4 - Supply Drop
Object Delivery
The ASV delivers supplies to other rescue vessels. The yellow vessel indicates clean water delivery. The black vessel indicates urgent medical kits (ball delivery).
Yellow Vessels - Water Delivery
The ASV detects up to three (3) yellow boats that are anchored throughout the course with a black triangle shape fixed to both sides of the boat. The ASV locates the boats and delivers/shoots water at the black triangle shape. The ASV should strike (with a steady and visible stream of water) the black triangle shape for at least 3 seconds. Performance of the ASV's ability to correctly and intentionally aim water at the target will be evaluated and scored by the judges observing the scoring run.
Black Vessels - Object Delivery
The ASV detects up to three (3) black boats that are anchored throughout the course, with a black plus-shape fixed to both sides of the boat. The ASV locates the black vessels and delivers a racquetball to the vessel, either striking the plus sign or inside of the vessel hull; or simply dropping the ball into the hull of the vessel is acceptable. Teams will not be penalized if the ball does not stay in the stationary vessel after successfully hitting the plus sign or inside of the hull. The ASV can be pre-loaded with up to three racquetballs before each scored run.
A supply of racquetballs will be provided to each team at Team Check-in. As the racquetballs are used throughout the week, more will be available as they are recovered from the course.
Capability Matrix
Core: Deliver water to orange vessel or ball to black vessel.
Advanced: Deliver water to orange vessel and ball to black vessel.
Communications
The ASV reports on the following for this task:
Location and color of yellow / black stationary vessel
Type of delivery (water or ball)
Defined reporting guidelines are available in Section 3.3: Communications Protocol.
Task Elements
Racquetballs are supplied from Amazon, www.amazon.com.
Stationary Vessels
Coroplast floating vessels
Full dimensions and plans can be found in Data Sharing
Yellow / Black
Racquetballs
FJBM Squash Ball
5.5 cm diameter
Red
Blue
Orange
3.2.5 Task 5 - Navigate the Marina
Docking
The ASV must enter the marina and dock in an available slip (indicated by green color indicator). Each dock slip has a number sign: 1-3. The ASV must dock in the most desirable open dock, indicated by the lowest number available. For example, if dock #2 and #3 are available, the ASV should dock in #2 as the lowest number available.
Files to print the dock numbers can be found in RoboNation Data Sharing.
Note: there will not be a situation where a slip has a stationary vessel and a green indicator. However, there will be situations where a slip has a red indicator but does not have a stationary vessel.
Capability Matrix
Core: Dock in any unoccupied bay.
Advanced: Dock in slip with green color indicator, signaling an available bay.
Disruptive: Dock in slip with green color indicator and the lowest number sign available.
Communications
The ASV reports on the following for this task:
Dock identification (Dock N or S)
Slip number (Slip 1, 2, or 3)
Defined reporting guidelines are available in Section 3.3: Communications Protocol.
Task Elements
Floating Dock
Large dock cube Item Code: C000000008
Beige
Dock: 40 in. W x 10 ft. L x 16 in. H
Tines: 4-7 ft. L
Individual Cube: 20 in. x 20 in. x 16 in. H Two dock piers with three (3) docking slips
Number Banners
Vinyl Banner
Black
24 inches x 24 inches
3.2.6 Task 6 - Harbor Alert
Sound Signal
The Harbor Alert task simulates an emergency maritime command-and-control, testing the ability of autonomous systems to detect, interpret and act on real-time dynamic cues that override other mission objectives, mirroring emergency maritime operations.
The ASV detects an audible signal and immediately abandons current task and:
One-Blast Signal = Navigate to emergency response zone (yellow buoy positioned at Task 3)
Two-Blast Signal = Return to marina (yellow buoy positioned at Task 5)
The sound signal can alert at any point during the mission. Each course will have a signal with a different frequency designated and published at the beginning of the day, the possible frequencies include: 600Hz, 800Hz, 1000Hz (+ 5%). The signal volume at distance:
1m: 85-100 dB SPL
60m: ~60 dB SPL
Available for Download: The .wav files are available in the RoboBoat Data Sharing folder.
Hints
Choose an omni-directional microphone. If you are using a single microphone and it is pointing away from the sound signal source, then the signal may be difficult to detect.
Test your system in a noisy environment. Consider boat, waves, and wind noise.
Capability Matrix
Core: Detect and classify audible signal (1 vs 2 blasts) and immediately abandon task, override behavior, and navigate safely to assigned zone/task.
Advanced: Report confirmation of signal and execute optimized routing and collision avoidance to assigned zone/task.
Communications
The ASV reports on the following for this task:
Audible Alert Tone (1 or 2 blasts)
Frequency
Real-time status of response time
Assigned zone
Defined reporting guidelines are available in Section 3.3: Communications Protocol.
3.2.7 Color Indicators
Custom color indicators will be used across the course. These color indicators are 3D-printed cylinders that are actuated to change the color between red and green. This single colored indicator is visible 360° radially on a horizontal plane only. It will be mounted on a custom buoy, roughly 18 in across at the base. More information will be released as this continues to be prototyped and tested. CAD files to print color indicators are available in RoboNation Data Sharing.
Color Indicator Buoy
The color indicators used throughout the course (with the exception of color indicators mounted to the dock for Task 5) will be mounted on a custom buoy.
The details in the following section are subject to change as the system is being developed. General size and shape will likely remain the same.
¾ '' PVC Elbows
8
¾ '' PVC Tees
6
¾ '' PVC Pipe - 12'' Long
4
¾ '' PVC Pipe - 7'' Long
8
¾ '' PVC Pipe - 4.5'' Long
2
¾ '' PVC Pipe - 1.5'' Long
4
3'' Diameter Floats - 5.5'' Long
8
14'' Cable Ties
8
8'' Cable Ties
16
Last updated