Right: Representative paths planned across the surface of Kirk Lake in Eugene, Ore. The naive paths represent taking a straight path from the start to the goal while replanning and oracle utilize information about the wind. Autonomous surface vehicle on Kirk Lake in Eugene, Ore., during ? eld trials. Credit: Dylan Joneswww.marinetechnologynews.comMarine Technology Reporter 31MTR #7 (18-33).indd 31 MTR #7 (18-33).indd 31 8/22/2017 11:20:33 AM8/22/2017 11:20:33 AM