Abstract: An intercepting vehicle, which is being towed by a towing vehicle, may home in on and attach to a retrievable vehicle that catches up to the intercepting vehicle from behind. Then, the intercepting vehicle, with the retrievable vehicle docked thereto, may be brought to the towing vehicle by reeling in the intercepting vehicle with the retrievable vehicle docked thereto.

Abstract: An intercepting vehicle, which is being towed by a towing vehicle, may home in on and attach to a retrievable vehicle that catches up to the intercepting vehicle from behind. Then, the intercepting vehicle, with the retrievable vehicle docked thereto, may be brought to the towing vehicle by reeling in the intercepting vehicle with the retrievable vehicle docked thereto.

Abstract: An intercepting vehicle, which is being towed by a towing vehicle, may home in on and attach to a retrievable vehicle that catches up to the intercepting vehicle from behind. Then, the intercepting vehicle, with the retrievable vehicle docked thereto, may be brought to the towing vehicle by reeling in the intercepting vehicle with the retrievable vehicle docked thereto.

Abstract: A method is provided for navigating a vehicle. Waypoint exclusion zones are efined as circles whose centers are known-position waypoints. The vehicle is steered along a path that is tangential to the "current" waypoint exclusion zone. This path that is maintained until a relative bearing between the vehicle and a center of the current waypoint exclusion zone is at least 90.degree. if the path is left of the center of the current waypoint exclusion zone, and at most -90.degree. if the path is right of the center of the current waypoint exclusion zone. When either of these conditions is met, the vehicle is located along the circle of the current waypoint exclusion zone. The vehicle is then advanced along the circle of the current waypoint exclusion zone until a heading of the vehicle matches a heading of a path that: is tangential to the "next" waypoint exclusion zone.

Abstract: A debris deflector protects an underwater vehicle's control. surface while ntroducing little or no flow disturbance around the control surface. The deflector extends outward from the vehicle to peninsulate the control surface. The deflector's cross-section is defined by a wedge shape subtended by an arc with the apex of the wedge shape always pointing towards the control surface.