A snapshot of my implementation of the autonomous tasks for CUAUV's Artemis submarine in RoboSub 2017. Included is mission and machine vision implementations for the Recovery, Torpedoes, and Bins tasks, plus contributions to the mission framework including a high-dimensional point set matcher/tracker and "volatile task combinators".
The team scored first place overall at RoboSub 2017. We also performed very well in Semifinal I, with Artemis alone scoring roughly 2.5 times as many points as that of any other team's run.