Evaluating Collaborative Autonomy in Opposed Environments using Maritime Capture-the-Flag Competitions. - Jordan Beason; Michael Novitzky; John Kliem; Tyler Errico; Zachary Serlin; Kevin Becker; Tyler M. Paine; Michael Benjamin; Prithviraj Dasgupta; Peter Crowley; Charles O'Donnell; John James (CoRR, 2024)