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For my research, I set out to create a vision system to enable an aqueous vehicle to autonomously navigate harbors. The application in mind for this system is for robotic (unmanned) research vessels for oceanic research missions. The vessel will contain appropriate sensors to whatever observations need to be made, whether it is testing chemical contents of the water, biomass moving through an area, or tracking various groups of animals. Eventually, my research scope expanded to working some on the architecture level to find ways to integrate two distinct architectures for seamless flow between low-level, small time-scale thinking with long-term analysis and planning.