Constructing a collection of autonomous agents requires the development of appropriate experimental hardware platforms. Here we describe the process of re-purposing inexpensive radio-controlled (RC) electric motorboat as autonomous surface craft. Standard electronics components are used to interface with the RC boat electronics, and the vessels are augmented with GPS, vision, and a tilt-compensated compass to provide the necessary onboard sensing capabilities to enable point-to-point and target-based control of the vehicle. A ROS-based control and sensing infrastructure is used to operate the vehicles on-board while 802.11n communication provides communication off-board. Vessels have been operated successfully in both the pool and ocean environment.the basic electronic components used are "standard" devices that are easily sourced. VESSEL DESIGNA basic design question in the development of any autonomous system is the size of the device. Size, measured in volume or mass, provides a range of constraints related to power, locomotive strategies, onboard sensor capabilities, onboard computation, communication opportunities and the like. This constraint is especially true in the development of an au-
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