The NASTI : Sensors
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The webcam is the boat's primary input. It is used to detect buoys, hoops, and sign images for different challenges. It produces RGB images and communicates with a USB interface. A planar light detection and ranging (LiDAR) sensor is mounted underneath the boat. It provides 360-degrees of distance information in a plane parallel to the water's surface. A 2-dimensional LiDAR was chosen over a 3-dimensional model to reduce cost and complexity. The LiDAR is used to detect buoys, shorelines, and the dock in the 'fetch the ball' challenge.  A 16x4 IR array is used to detect the temperature of objects in front of the sensor. It is used in the 'Rock, Paper, Scissor, Lizard, Spock' challenge to detect the hot sign
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A 50-channel D2523T Helical GPS receiver is used on the platform. The receiver provides the boat's latitude and longitude, which is used to navigate between challenge stations. 
A CMPS03 electronic compass provides the boat with its heading. In conjunction with the GPS, the compass is used to navigate between challenge stations.