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This reality justifies the need to adopt an extensive framework of tools for realistic, efficient, and responsive computer simulation. This article proposes a novel integration architecture and combines open-source tools to promote the successful implementation of autonomous robotic systems in monitoring tasks. The proposed solution relies on consolidated tools like Robot Operating System (ROS), Gazebo Simulator, and ArduPilot FCU (Flight Control Unit). It includes full support for implementing XITL techniques (such as Model, Software, and Hardware) \u2013 in the Loop. Experimental results demonstrate the proposal\u2019s effectiveness for a new model of autonomous surface vehicles (ASVs) in a realistic environment, dedicated to environmental monitoring in challenging natural conditions, commonly found in a stretch of the Madeira River \u2013 Brazil, specifically at Santo Ant\u00f4nio hydroelectric plant.<\/jats:p>","DOI":"10.1017\/s026357472400153x","type":"journal-article","created":{"date-parts":[[2024,9,20]],"date-time":"2024-09-20T06:31:01Z","timestamp":1726813861000},"page":"110-143","source":"Crossref","is-referenced-by-count":1,"title":["A novel integrated architecture to X-in-the-loop simulation applied to ASV navigation"],"prefix":"10.1017","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8971-0687","authenticated-orcid":false,"given":"Tiago Trindade","family":"Ribeiro","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bianca","family":"Fernandes","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Henrique","family":"Poleselo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Vinicius","family":"Vidal","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Vitor","family":"Lopes","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mathaus","family":"Ferreira","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Edvaldo","family":"Neto","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8124-6253","authenticated-orcid":false,"given":"Andre Gustavo","family":"Scolari Conceicao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Leonardo","family":"de Mello Honorio","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2024,9,20]]},"reference":[{"key":"S026357472400153X_ref1","doi-asserted-by":"publisher","DOI":"10.1016\/S1474-6670(17)44056-0"},{"key":"S026357472400153X_ref6","doi-asserted-by":"publisher","DOI":"10.3390\/s19051068"},{"key":"S026357472400153X_ref13","first-page":"183","article-title":"Model-in-the-loop testing","volume":"220","author":"Plummer","year":"2006","journal-title":"Proc Inst Mech Eng Pt I J Syst Control Eng"},{"key":"S026357472400153X_ref5","doi-asserted-by":"publisher","DOI":"10.1038\/s41559-022-01812-0"},{"key":"S026357472400153X_ref3","first-page":"03","article-title":"Advances in forest robotics: A state-of-the-art survey","volume":"10","author":"Luiz Fernando Oliveira","year":"2021","journal-title":"Robotics"},{"key":"S026357472400153X_ref19","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574720000843"},{"key":"S026357472400153X_ref22","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574719000079"},{"key":"S026357472400153X_ref20","doi-asserted-by":"publisher","DOI":"10.3390\/electronics11152462"},{"key":"S026357472400153X_ref9","doi-asserted-by":"publisher","DOI":"10.3390\/s21041102"},{"key":"S026357472400153X_ref33","unstructured":"[33] ArduPilot, ArduPilot Project: Open Source Autopilot. 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