Competition Strategy

Task 1 — Safe Passage. The UAV maps the ten buoys at 20 m altitude, descends to 10 m to determine their light states, and transmits buoy identifiers, positions, and states to the USV. The USV independently detects buoy positions using camera and LiDAR, while retaining the UAV-provided light states. This redundant perception architecture maintains reliable obstacle avoidance despite degraded communications or UAV localization errors. The USV and UAV then execute a coordinated gate sequence using an arrival/acknowledgment handshake. If a light state changes, the UAV searches outward toward the exit gate to reacquire the updated location. The task concludes with coordinated exit maneuvers by both vehicles.

Task 2 — Infrastructure Survey and Repair. The UAV detects damaged pipeline indicators and transmits their GPS coordinates to the UUV. The UUV uses GPS for surface transit to the target, reducing accumulated navigation error relative to dead-reckoning with the DVL. After acquiring the pipeline with its downward camera and scanning sonar, the UUV uses computer vision to localize and navigate to the damaged node. Pixel-to-meter calibration provides the positioning required to actuate the repair magnet. While the UUV operates underwater, the UAV lands and powers down its motors to conserve energy. The UUV subsequently surfaces and transmits the observed pipeline color sequence to the UAV, which uses the information to deliver the corresponding payload.

Task 3 — Coordinated Logistics. The USV combines GPS waypoints and computer vision to locate and approach the docking structure. Camera and LiDAR are used to identify the designated docking bay and guide lateral alignment. After docking, the USV identifies the target window, aligns its water nozzle, and extinguishes the simulated fire. It then decodes the resulting color sequence and transmits it to the UAV. The UAV, which remains landed with motors disarmed during the USV operation, uses the received sequence to select and deliver the corresponding payload.

Task 4 — Dynamic Incident Response. A common incident-response behavior is implemented across all three vehicle types, with the required response varying by competition tier. The behavior supports three primary responses: breaking off and loitering at a designated position, replanning around a static keep-out region, and maintaining separation from a reported moving object. Dynamic GPS geofencing provides the mechanism for modifying the active mission. The response is implemented as a leaf node in the vehicle behavior trees [3], allowing it to interrupt the current mission and return control when the incident is resolved.