{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,28]],"date-time":"2025-10-28T10:40:18Z","timestamp":1761648018694,"version":"build-2065373602"},"reference-count":36,"publisher":"MDPI AG","issue":"10","license":[{"start":{"date-parts":[[2025,10,21]],"date-time":"2025-10-21T00:00:00Z","timestamp":1761004800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Instituto de Autom\u00e1tica of the Universidad Nacional de San Juan in collaboration with CONICET (Consejo Nacional de Investigaciones Cient\u00edficas y T\u00e9cnicas"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>This work presents an open-source simulation framework designed to extend the capabilities of the VRX environment for developing and validating control strategies for surface robotic vehicles. The platform features a custom monohull, kayak-type USV with four thrusters in differential configuration, represented with a complete graphical mockup consistent with its physical design and modeled with realistic dynamics and sensor integration. A thrust mapping function was calibrated using manufacturer data, and the vehicle\u2019s behavior was characterized using a simplified Fossen model with parameters identified via Least Squares estimation. Multiple motion controllers, including velocity, position, trajectory tracking, and path guidance, were implemented and evaluated in a variety of wave and wind scenarios designed to test the full vehicle dynamics and closed-loop behavior. In addition to extending the VRX simulator, this work introduces a new USV model, a calibrated thrust response, and a set of model-based controllers validated in high-fidelity marine conditions. The resulting framework constitutes a reproducible and extensible resource for the marine robotics community, with direct applications in robotic education, perception, and advanced control systems.<\/jats:p>","DOI":"10.3390\/robotics14100147","type":"journal-article","created":{"date-parts":[[2025,10,21]],"date-time":"2025-10-21T14:24:02Z","timestamp":1761056642000},"page":"147","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Open-Access Simulation Platform and Motion Control Design for a Surface Robotic Vehicle in the VRX Environment"],"prefix":"10.3390","volume":"14","author":[{"ORCID":"https:\/\/orcid.org\/0009-0002-2901-2788","authenticated-orcid":false,"given":"Brayan","family":"Saldarriaga-Mesa","sequence":"first","affiliation":[{"name":"Instituto de Autom\u00e1tica (INAUT), San Juan National University (UNSJ), San Juan 5400, Argentina"},{"name":"Facultad de Ciencias B\u00e1sicas e Ingenier\u00eda, Universidad de los Llanos, Villavicencio 500017, Colombia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9651-5938","authenticated-orcid":false,"given":"Julio","family":"Montesdeoca","sequence":"additional","affiliation":[{"name":"Faculty of Electronic and Automation Enginnering, Universidad Polit\u00e9cnica Salesiana, Cuenca 010105, Ecuador"}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-8080-8929","authenticated-orcid":false,"given":"Dennys","family":"B\u00e1ez","sequence":"additional","affiliation":[{"name":"Instituto de Autom\u00e1tica (INAUT), San Juan National University (UNSJ), San Juan 5400, Argentina"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5047-0217","authenticated-orcid":false,"given":"Flavio","family":"Roberti","sequence":"additional","affiliation":[{"name":"Instituto de Autom\u00e1tica (INAUT), San Juan National University (UNSJ), San Juan 5400, Argentina"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9347-566X","authenticated-orcid":false,"given":"Juan Marcos","family":"Toibero","sequence":"additional","affiliation":[{"name":"Instituto de Autom\u00e1tica (INAUT), San Juan National University (UNSJ), San Juan 5400, Argentina"}]}],"member":"1968","published-online":{"date-parts":[[2025,10,21]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"350","DOI":"10.1016\/j.arcontrol.2018.10.002","article-title":"Challenges and future trends in marine robotics","volume":"46","author":"Zereik","year":"2018","journal-title":"Annu. 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