ACT

The plan is executed and continuously reevaluated.

Once the path has been generated, the ferry will start the crossing. The ferry will of course continue to see and understand the surroundings and continuously reevaluate the generated path and speed. If any object or vessel is approaching and risk to intercept the planned path, the ferry will first look to adjust its speed. If that is not enough then it will change its heading so that the object is avoided. 

When the destination is reached, the boat will automatically dock. The doors will open and let passengers on and off, and then the process is repeated.