  This paper addresses the problem of robotic operations in the presence of
adversarial forces. We presents a complete framework for survey operations:
waypoint generation,modelling of forces and tuning the control. In many
applications of environmental monitoring, search and exploration, and
bathymetric mapping, the vehicle has to traverse in straight lines parallel to
each other, ensuring there are no gaps and no redundant coverage. During
operations with an Autonomous Surface Vehicle (ASV) however, the presence of
wind and/or currents produces external forces acting on the vehicle which quite
often divert it from its intended path. Similar issues have been encountered
during aerial or underwater operations. By measuring these phenomena, wind and
current, and modelling their impact on the vessel, actions can be taken to
alleviate their effect and ensure the correct trajectory is followed.
