Three Qualifying and Practice Courses are available for teams to practice, demonstrate proficiency, and qualify for the Semi-Finals Round. These courses consist of all six (6) tasks. Multiple teams may be on a Qualifying and Practice Course at the same time. Teams may schedule times to practice or complete individual tasks on these courses with the Technical Director. Teams may attempt completion on individual tasks in any order.

Qualification Criteria | To qualify for Semi-Finals, the ASV must complete:

• core capabilities of two (2) individual tasks

• advanced capabilities of two (2) individual tasks

• two (2) tasks in sequence autonomously

• send heartbeat message

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 : 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 .

Task Elements

Buoys are supplied from Taylor Made, .

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 .

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 .

Task Elements

Buoys are supplied from Polyform US, .

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 .

Task Elements

Buoys are supplied from Polyform US, .

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.

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 .

Task Elements

Racquetballs are supplied from Amazon, .

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 .

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 .

Task Elements

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

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 .

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 .

Color Indicator Buoy

The color indicators used throughout the course (with the exception of color indicators mounted to the dock for ) will be mounted on a custom buoy.

3.3.1 Message Format: Protocol Buffers (Protobuf)

3.3.2 Rules and Timing (required)

3.3.3 Transport

3.3.4 Minimal On‑wire Behavior (summary)

3.3.5 Resources Provided to Teams

3.3.6 Task Reporting Summary

3.3.7 Schema (report.proto)

This section defines how teams report ASV status from the team's Operator Control Station (OCS) to the RoboNation RoboCommand system during runs. During operations, teams are provided with a hard-wired connection (RJ-45) to the RoboCommand Network. This connection must be used to transmit all reports.

The course Ethernet connection is isolated:

• Teams will not have Internet access through this connection

• Teams will not be able to reach other external networks through this connection

DHCP Addressing (IP Configuration)

• Network: 10.10.10.0/24 (Subnet Mask: 255.255.255.0)

• RoboCommand IP: 10.10.10.1

• Team OCS IP assignment: Your computer will be automatically assigned an address in the 10.10.10.x range 10.10.10.100 through 10.10.10.200

3.3.1 Message Format: Protocol Buffers (Protobuf)

Protocol Buffers is used to define message schemas and serialize data for transmission to RoboCommand. In simple terms:

• Message fields are described in a human‑readable .proto file.

• Team runs the compiler (protoc) to generate classes for your language (Python/C++/Go/etc.).

• Team's code uses those classes to build and encode messages to a compact binary string.

Official docs:

3.3.2 Rules and Timing (required)

• Format: Protocol Buffers

• Timestamp: Every message must include a timestamp

• Clock sync: Teams will be provided with a Network Time Protocol (NTP) source for system clock synchronization so timestamps align with field logs.

3.3.3 Transport

• Physical/network: Hard‑wired Ethernet from the OCS to the course network (RoboCommand)

• Direction: Team to RoboCommand (reporting only)

• Server: 10.10.10.1, Port: 50000 (TCP)

3.3.4 Minimal On‑wire Behavior (summary)

• When to send: On each required event/state change for a task, and otherwise at ≤5 Hz if a task specifies periodic updates.

• What to send: Header(2 bytes) + Length(1 byte) + Payload(Length bytes) + Footer(2 bytes)

  • Header - ASCII "$R"

3.3.5 Resources Provided to Teams

To de‑risk adoption and ease debugging, RoboNation has published the following in :

Onsite

• Hardwire connection to the RoboCommand network provided in course operations tents.

• Hardwire connection to a testing RoboCommand network in team village.

Schema & Bindings

• Canonical (versioned, current version shown in )

• Pre‑generated for Python and C++

• Simple Client (Python): sends one (1) message over TCP (configurable)

• Simple Client (C++): sends one (1) message over TCP (configurable)

• Simple Server (Python): receives, decodes protobuf, prints to console for debugging

3.3.6 Task Reporting Summary

Task 1: Evacuation Route & Return - Entry & Exit Gates

The ASV reports on the following:

• GatePass message (through second Entry Gate)

• GatePass message (through second Exit Gate)

Task 2: Debris Clearance - Navigation Channel

The ASV reports the following:

• ObjectDetected message

Task 3: Emergency Response Sprint - Speed Challenge

The ASV reports the following:

• GatePass message (start of task)

• ObjectDetected message

• GatePass message (end of task)

Task 4: Supply Drop - Object Delivery

The ASV reports the following (per stationary vessel):

• ObjectDetected message

• ObjectDelivery message

Task 5: Navigate the Marina - Docking

The ASV reports the following:

• Docking message

Task 6: Harbor Alert - Sound Signal

The ASV reports the following:

• SoundSignal message

3.3.7 Schema (report.proto)

The following is the current version. Final field names and enums may be adjusted before the competition, but will be updated in .

3.1.1 Vehicle Transport Requirements

Teams must provide a cart to move the vehicle around the competition site and launch the vehicle into the water.

• Cart must be manually propelled on site, no motorized carts.

• Cart's handle must be solid, no rope or chain.

• Cart’s width must be less than thirty-six (36) inches.

• Carts are recommended to have six (6) inch (or more) diameter rubberized wheels.

• Carts must be able to get wet with minimal impact to function.

• Carts must be negatively buoyant in the water.

Suggested carts: garden cart, available at ; or dump cart, available at .

3.1.2 Static Safety Inspection

Prior to deploying in the water, the ASV must meet all safety requirements. At a minimum, the following areas are checked:

• Emergency Stop System (location of switches, on-board and remote functionality)

• Demonstration of remote Emergency Stop failsafe functionality by removing the batteries or turning off the remote Emergency Stop transmitter.

• Safety issues related to a propeller or hazard

More details on system requirements are available in

3.1.3 Weight and Thrust Measurements

Vehicles are weighed at the start of every day of the competition. Teams transport the vehicle on their cart to the scale (similar to a veterinary scale, available at ) for weight measurement. The stable scale reading weight is recorded. Thrust is measured after the vehicle is deployed in the water either in manual or autonomous mode. The thrust value used is the highest scale reading that is stable for at least two seconds. Teams may opt to repeat their thrust measurement at each deployment.

During Finals runs, the vehicle must be re-weighed, and re-thrust tested every time it is launched into the water. If the vehicle stays in the water between finals runs, teams may forgo the weight and thrust test a second time. However, if a team is observed to be switching significant components or making modifications on their boat, the judges or TD staff may ask for a new measurement.

Weight and Thrust Scoresheet

Vehicle Weight Example Calculations

These challenges showcase ASV performance through autonomous behaviors designed to represent research and real-world applications.

3.1 Mandatory Activities

3.2 Task Descriptions

3.3 Communications Protocol

• Team ID List

3.4 Qualifying Round

Teams that qualify will have access to a full Semi-Finals Course once one becomes available. These courses consist of six (6) tasks: the mandatory navigation channel and tasks 2-6. Only one team may be on a Semi-Finals/Finals Course at a time. Note that teams may not know what course they are assigned until right before the start of their time slot.

During a Semi-Finals/Finals run the ASV must:

• operate autonomously throughout the entire run; no remote-controlled survey runs allowed and teams must navigate directly back to the starting position with no deviations when resetting for another run.

• enter the course through the gates in Task 1: Evacuation Route (Entry and Exit Gates).