{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,24]],"date-time":"2026-02-24T05:51:44Z","timestamp":1771912304479,"version":"3.50.1"},"reference-count":39,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2019,3,2]],"date-time":"2019-03-02T00:00:00Z","timestamp":1551484800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100002322","name":"Coordena\u00e7\u00e3o de Aperfei\u00e7oamento de Pessoal de N\u00edvel Superior","doi-asserted-by":"publisher","award":["88887.215325\/2018-00"],"award-info":[{"award-number":["88887.215325\/2018-00"]}],"id":[{"id":"10.13039\/501100002322","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002322","name":"Coordena\u00e7\u00e3o de Aperfei\u00e7oamento de Pessoal de N\u00edvel Superior","doi-asserted-by":"publisher","award":["88887.115590\/2015-01"],"award-info":[{"award-number":["88887.115590\/2015-01"]}],"id":[{"id":"10.13039\/501100002322","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The use of robotics in disaster scenarios has become a reality. However, an Unmanned Surface Vehicle (USV) needs a robust navigation strategy to face unpredictable environmental forces such as waves, wind, and water current. A starting step toward this goal is to have a programming environment with realistic USV models where designers can assess their control strategies under different degrees of environmental disturbances. This paper presents a simulation environment integrated with robotic middleware which models the forces that act on a USV in a disaster scenario. Results show that these environmental forces affect the USV\u2019s trajectories negatively, indicating the need for more research on USV control strategies considering harsh environmental conditions. Evaluation scenarios were presented to highlight specific features of the simulator, including a bridge inspection scenario with fast water current and winds.<\/jats:p>","DOI":"10.3390\/s19051068","type":"journal-article","created":{"date-parts":[[2019,3,4]],"date-time":"2019-03-04T05:45:36Z","timestamp":1551678336000},"page":"1068","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":58,"title":["Unmanned Surface Vehicle Simulator with Realistic Environmental Disturbances"],"prefix":"10.3390","volume":"19","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3056-2640","authenticated-orcid":false,"given":"Marcelo","family":"Paravisi","sequence":"first","affiliation":[{"name":"Instituto Federal de Educa\u00e7\u00e3o, Ci\u00eancia e Tecnologia do Rio Grande do Sul, Os\u00f3rio RS 95520-000, Brazil"},{"name":"Pont\u00edficia Universidade Cat\u00f3lica, Porto Alegre RS 90619-900, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4286-235X","authenticated-orcid":false,"given":"Davi","family":"H. Santos","sequence":"additional","affiliation":[{"name":"Universidade Federal do Rio Grande do Norte, Natal RN 59078-970, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1620-852X","authenticated-orcid":false,"given":"Vitor","family":"Jorge","sequence":"additional","affiliation":[{"name":"Pont\u00edficia Universidade Cat\u00f3lica, Porto Alegre RS 90619-900, Brazil"},{"name":"Electronics Engineering Division, Instituto Tecnol\u00f3gico de Aeron\u00e1utica, S\u00e3o Jos\u00e9 dos Campos SP 12228-900, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7515-3843","authenticated-orcid":false,"given":"Guilherme","family":"Heck","sequence":"additional","affiliation":[{"name":"Pont\u00edficia Universidade Cat\u00f3lica, Porto Alegre RS 90619-900, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7735-5630","authenticated-orcid":false,"given":"Luiz Marcos","family":"Gon\u00e7alves","sequence":"additional","affiliation":[{"name":"Universidade Federal do Rio Grande do Norte, Natal RN 59078-970, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8432-3162","authenticated-orcid":false,"given":"Alexandre","family":"Amory","sequence":"additional","affiliation":[{"name":"Instituto Federal de Educa\u00e7\u00e3o, Ci\u00eancia e Tecnologia do Rio Grande do Sul, Os\u00f3rio RS 95520-000, Brazil"}]}],"member":"1968","published-online":{"date-parts":[[2019,3,2]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Murphy, R.R. (2014). Disaster Robotics, MIT Press.","DOI":"10.7551\/mitpress\/9407.001.0001"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Jorge, V.A.M., Granada, R., Maidana, R.G., Jurak, D.A., Heck, G., Negreiros, A.P.F., Santos, D.H., Gon\u00e7alves, L.M.G., and Amory, A. (2019). A Survey on Unmanned Surface Vehicles for Disaster Robotics: Main Challenges and Directions. Sensors, 19.","DOI":"10.3390\/s19030702"},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Paravisi, M., Jorge, V.A.M., and Amory, A. (2018, January 29\u201331). Toward an Accurate Hydrologic Urban Flooding Simulations for Disaster Robotics. Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics ICINCO, Porto, Portugal.","DOI":"10.5220\/0006904704250431"},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Claus, B., Kinsey, J., and Girdhar, Y. (2016, January 6\u20139). Towards persistent cooperative marine robotics. Proceedings of the IEEE\/OES Autonomous Underwater Vehicles (AUV), Tokyo, Japan.","DOI":"10.1109\/AUV.2016.7778706"},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"184","DOI":"10.1016\/j.adhoc.2014.09.003","article-title":"Modeling Position Uncertainty of Networked Autonomous Underwater Vehicles","volume":"34","author":"Chen","year":"2015","journal-title":"Ad Hoc Netw."},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Suzuki, N., Kitajima, H., Kaba, H., Suzuki, T., Suto, T., Kobayashi, A., and Ochi, F. (2015, January 18\u201321). An Experiment of Real-Time Data Transmission of Sonar Images from Cruising UUV to Distant Support Vessel via USV: Development of Underwater Real-Time Communication System (URCS) by Parallel Cruising. Proceedings of the OCEANS 2015, Genova, Italy.","DOI":"10.1109\/OCEANS-Genova.2015.7271465"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"1121","DOI":"10.1109\/TMECH.2017.2660528","article-title":"Advanced control in marine mechatronic systems: A survey","volume":"22","author":"Shi","year":"2017","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"71","DOI":"10.1016\/j.arcontrol.2016.04.018","article-title":"Unmanned surface vehicles: An overview of developments and challenges","volume":"41","author":"Liu","year":"2016","journal-title":"Annu. Rev. Control"},{"key":"ref_9","unstructured":"(2018, December 30). Unmanned Surface Vehicle Simulator. Available online: https:\/\/github.com\/disaster-robotics-proalertas\/usv_sim_lsa."},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Craighead, J., Murphy, R., Burke, J., and Goldiez, B. (2007, January 10\u201314). A Survey of Commercial Open Source Unmanned Vehicle Simulators. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Rome, Italy.","DOI":"10.1109\/ROBOT.2007.363092"},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Harris, A., and Conrad, J.M. (2011, January 17\u201320). Survey of popular robotics simulators, frameworks, and toolkits. Proceedings of the IEEE Southeastcon, Nashville, TN, USA.","DOI":"10.1109\/SECON.2011.5752942"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"791","DOI":"10.1017\/S0263574714001866","article-title":"Survey and comparative study of free simulation software for mobile robots","volume":"34","author":"Arredondo","year":"2016","journal-title":"Robotica"},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Mendon\u00e7a, R., Santana, P., Marques, F., Louren\u00e7o, A., Silva, J., and Barata, J. (2013, January 13\u201316). Kelpie: A ROS-Based Multi-robot Simulator for Water Surface and Aerial Vehicles. Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, Manchester, UK.","DOI":"10.1109\/SMC.2013.621"},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Sehgal, A., and Cernea, D. (2010, January 23\u201325). A multi-AUV missions simulation framework for the USARSim Robotics Simulator. Proceedings of the Mediterranean Conference on Control Automation (MED), Marrakech, Morocco.","DOI":"10.1109\/MED.2010.5547632"},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Tosik, T., and Maehle, E. (2014, January 14\u201319). MARS: A simulation environment for marine robotics. Proceedings of the 2014 Oceans, St. John\u2019s, NL, Canada.","DOI":"10.1109\/OCEANS.2014.7003008"},{"key":"ref_16","unstructured":"Gerkey, B.P., Vaughan, R.T., and Howard, A. (2003, January 14\u201319). The Player\/Stage Project: Tools for Multi-Robot and Distributed Sensor Systems. Proceedings of the International Conference on Advanced Robotics (ICRA), Taipei, Taiwan."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"834","DOI":"10.1002\/rob.20370","article-title":"Nested autonomy for unmanned marine vehicles with MOOS-IvP","volume":"27","author":"Benjamin","year":"2010","journal-title":"J. Field Robot."},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Henriksen, E.H., Schj\u00f8lberg, I., and Gjersvik, T.B. (2016, January 6\u20139). UW-MORSE: The underwater Modular Open Robot Simulation Engine. Proceedings of the IEEE\/OES Autonomous Underwater Vehicles (AUV), Tokyo, Japan.","DOI":"10.1109\/AUV.2016.7778681"},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Prats, M., P\u00e9rez, J., Fern\u00e1ndez, J.J., and Sanz, P.J. (2012, January 7\u201312). An open source tool for simulation and supervision of underwater intervention missions. Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal.","DOI":"10.1109\/IROS.2012.6385788"},{"key":"ref_20","unstructured":"Koenig, N., and Howard, A. (October, January 28). Design and use paradigms for Gazebo, an open-source multi-robot simulator. Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Sendai, Japan."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"25","DOI":"10.1007\/978-3-319-11900-7_3","article-title":"A Dynamic Simulator for Underwater Vehicle-Manipulators","volume":"Volume 8810","author":"Kermorgant","year":"2014","journal-title":"Proceedings of the International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)"},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"Rohmer, E., Singh, S.P.N., and Freese, M. (2013, January 3\u20137). V-REP: A versatile and scalable robot simulation framework. Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan.","DOI":"10.1109\/IROS.2013.6696520"},{"key":"ref_23","unstructured":"(2018, December 30). RobotX Simulator. Available online: https:\/\/bitbucket.org\/osrf\/vmrc\/overview."},{"key":"ref_24","unstructured":"(2018, December 30). Maritime RobotX Challenge. Available online: https:\/\/www.robotx.org."},{"key":"ref_25","unstructured":"(2018, December 30). Lift Drag Plugin. Available online: http:\/\/gazebosim.org\/tutorials?tut=aerodynamics."},{"key":"ref_26","unstructured":"(2018, December 30). GAMS. Available online: https:\/\/github.com\/jredmondson\/gamss."},{"key":"ref_27","doi-asserted-by":"crossref","unstructured":"Fossen, T. (2011). Handbook of Marine Craft Hydrodynamics and Motion Control, Wiley.","DOI":"10.1002\/9781119994138"},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"256","DOI":"10.1109\/JOE.2013.2247276","article-title":"Modeling and Nonlinear Heading Control of Sailing Yachts","volume":"39","author":"Xiao","year":"2014","journal-title":"IEEE J. Ocean. Eng."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"339","DOI":"10.1016\/0167-6105(94)90067-1","article-title":"Parameter identification of wind loads on ships","volume":"51","author":"Blendermann","year":"1994","journal-title":"J. Wind Eng. Ind. Aerodyn."},{"key":"ref_30","unstructured":"Brunner, W.G. (1995). HEC-RAS River Analysis System, DTIC. Hydraulic Reference Manual, Version 1.0; Technical Report."},{"key":"ref_31","unstructured":"(2018, December 30). HEC RAS. Available online: http:\/\/www.hec.usace.army.mil\/software\/hec-ras\/."},{"key":"ref_32","unstructured":"(2018, December 30). Open FOAM. Available online: https:\/\/www.openfoam.com\/."},{"key":"ref_33","unstructured":"(2018, December 30). Platypus LLC. Available online: http:\/\/senseplatypus.com."},{"key":"ref_34","doi-asserted-by":"crossref","unstructured":"Wirtensohn, S., Reuter, J., Blaich, M., Schuster, M., and Hamburger, O. (2013, January 26\u201329). Modelling and identification of a twin hull-based autonomous surface craft. Proceedings of the 2013 18th International Conference on Methods Models in Automation Robotics (MMAR), Miedzyzdroje, Poland.","DOI":"10.1109\/MMAR.2013.6669892"},{"key":"ref_35","unstructured":"(2018, December 30). Emlid\u2019s Reach RTK GPS. Available online: https:\/\/docs.emlid.com\/reach\/common\/tutorials\/placing-the-base\/."},{"key":"ref_36","unstructured":"(2018, December 30). IBGE Public Base Station, Available online: https:\/\/ww2.ibge.gov.br\/english\/geociencias\/geodesia\/rbmc\/ntrip\/."},{"key":"ref_37","doi-asserted-by":"crossref","unstructured":"Santos, D., Silva Junior, A.G., Negreiros, A., Vilas Boas, J., Alvarez, J., Araujo, A., Aroca, R.V., and Gon\u00e7alves, L.M.G. (2016). Design and Implementation of a Control System for a Sailboat Robot. Robotics, 5.","DOI":"10.3390\/robotics5010005"},{"key":"ref_38","doi-asserted-by":"crossref","first-page":"77","DOI":"10.1007\/s10846-010-9514-8","article-title":"Robot-Assisted Bridge Inspection","volume":"64","author":"Murphy","year":"2011","journal-title":"J. Intell. Robot. Syst."},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"349","DOI":"10.1007\/s10514-015-9419-2","article-title":"Precision navigation and mapping under bridges with an unmanned surface vehicle","volume":"38","author":"Han","year":"2015","journal-title":"Auton. Robots"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/19\/5\/1068\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T12:35:50Z","timestamp":1760186150000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/19\/5\/1068"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,3,2]]},"references-count":39,"journal-issue":{"issue":"5","published-online":{"date-parts":[[2019,3]]}},"alternative-id":["s19051068"],"URL":"https:\/\/doi.org\/10.3390\/s19051068","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,3,2]]}}}