Successful completion of the Speed Gate task demonstrates the ASV’s hull form efficiency coupled with its propulsion system, and the resulting maneuverability. Furthermore,it demonstrates object recognition and decision making with respect to sensing the task elements. The vehicle must enter through the gate buoys, go around the Mark buoy (counterclockwise or clockwise), and exit through the same gate buoys, as quickly as possible. The gate buoys are moored 6-10 ft apart, and the Mark buoy is placed 60 to 80 ft, from the gate buoys. This is a timed challenge. Time starts when the bow(front)of the vehicle crosses the Gate buoys (entry) and stops when the stern(back) of the vehicle crosses the Gate buoys (exit).