Yesterday we spent about eight hours in the Lake dodging alligators and testing our boat’s controller software. Zach has been tirelessly working on the thruster mapper, PD controller, and low level path planner. Every day we are in the water, the boat shows significant improvement in controllability. Four of the hours were spent on mobility while the other four were spent on recording LIDAR and camera data. We’re really lucky to have access to Lake Alice on campus. The size and water colors are very similar to the lake at the Founder’s Inn in VA.