**5. Test vehicles and sensing architecture**

The preceding trajectory generation framework has been implemented on several UMVs. Before presenting simulated and experimental results with specific vehicle platforms at sea, we first introduce two such vehicles in use at CAVR - the REMUS UUV and SeaFox USV. Both vehicles utilize FLS to detect and localize obstacles in their environment and employ the suggested direct method to generate real-time OA trajectories. This section provides system-level descriptions of both platforms including their sensors, and proposes a way of building the OA framework on top of the trajectory generation framework, i.e. enhancing the architecture of Figs. 2 and 3 even further.
