Reading notes (HERON)

- Niu, Ji, Savvaris, Tsourdos, Carrasco (2021), "Model Checking for Decision
  Making System of Long Endurance USV." arXiv:2102.10604.
  -> C-Enduro used solar+wind+diesel like us. they MODEL-CHECK the decision FSM
     (MCMAS) against energy + collision props. worth stealing the approach for
     CEDAR cert. energy states abstracted to discrete levels.
- "Synergistic Hierarchical AI Framework for USV Navigation" (Sensors, 2025),
  energy-aware TD3 control. -> energy-aware speed scheduling could buy us days.
  skim again, the reward shaping section.