After the Car Project at Willow Garage was shutdown, I worked on the Autonomous Boat Project. The boat was intended to be used as a vehicle for ocean research, such as measuring climate change or mapping the oceans, without the need to support a research staff at sea. The vessel was solar powered and designed to use the battery ballast to change the angle of the boat hull relative to the sun to enable the best charging performance while at sea. Over the course of 9 months I worked on the hardware, controls, and simulation of the autonomous boat.
