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This paper illustrates the components, capabilities, and some characteristic applications of the Woods Hole Oceanographic Institution Jetyak -a small autonomous surface vehicle (ASV) designed for the collection of oceanographic data from shallow or dangerous waters. The Jetyak is the result of custom modifications to a Mokai jet-powered kayak, including an A-frame and sea chest for installation of instrumentation, servo-driven controls and an Ardupilot autopilot for autonomous operation, an onboard computer for instrument control and data logging, and radios for wireless operation and communications. With these modifications, the Jetyak's cost of replacement is less than $15,000 (excluding the cost of instrumentation payload).The paper addresses the strengths and weaknesses of the Jetyak relative to piloted small boats and jetskis, autonomous underwater vehicles, and existing ASVs.Preliminary data are included from some shallow-water and dangerous Jetyak field campaigns in order to illustrate applications to which the Jetyak is well or uniquely suited.

The Blackbird unmanned aerial vehicle (UAV) dataset is a large-scale, aggressive indoor flight dataset collected using a custom-built quadrotor platform for use in evaluation of agile perception. Inspired by the potential of future high-speed fully-autonomous drone racing, the Blackbird dataset contains over 10 hours of flight data from 168 flights over 17 flight trajectories and 5 environments at velocities up to 7.0 m s −1 . Each flight includes sensor data from 120 Hz stereo and downward-facing photorealistic virtual cameras, 100 Hz IMU, ∼190 Hz motor speed sensors, and 360 Hz millimeter-accurate motion capture ground truth. Camera images for each flight were photorealistically rendered using FlightGoggles [1] across a variety of environments to facilitate easy experimentation of high performance perception algorithms. The dataset is available for download at http://blackbird-dataset.