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Article

Open-Access Simulation Platform and Motion Control Design for a Surface Robotic Vehicle in the VRX Environment

by
Brayan Saldarriaga-Mesa
1,3,*,
Julio Montesdeoca
2,
Dennys Báez
1,
Flavio Roberti
1 and
Juan Marcos Toibero
1
1
Instituto de Automática (INAUT), San Juan National University (UNSJ), San Juan 5400, Argentina
2
Faculty of Electronic and Automation Enginnering, Universidad Politécnica Salesiana, Cuenca 010105 , Ecuador
3
Facultad de Ciencias Básicas e Ingeniería, Universidad de los Llanos, Villavicencio 500017, Colombia
*
Author to whom correspondence should be addressed.
Robotics 2025, 14(10), 147; https://doi.org/10.3390/robotics14100147
Submission received: 29 August 2025 / Revised: 5 October 2025 / Accepted: 16 October 2025 / Published: 21 October 2025
(This article belongs to the Section Sensors and Control in Robotics)

Abstract

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’s 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.
Keywords: Unmanned Surface Vehicles (USVs); open-source simulation framework; ROS integration; multimode model-based control; dynamic model identification; VRX environment extension Unmanned Surface Vehicles (USVs); open-source simulation framework; ROS integration; multimode model-based control; dynamic model identification; VRX environment extension

Share and Cite

MDPI and ACS Style

Saldarriaga-Mesa, B.; Montesdeoca, J.; Báez, D.; Roberti, F.; Toibero, J.M. Open-Access Simulation Platform and Motion Control Design for a Surface Robotic Vehicle in the VRX Environment. Robotics 2025, 14, 147. https://doi.org/10.3390/robotics14100147

AMA Style

Saldarriaga-Mesa B, Montesdeoca J, Báez D, Roberti F, Toibero JM. Open-Access Simulation Platform and Motion Control Design for a Surface Robotic Vehicle in the VRX Environment. Robotics. 2025; 14(10):147. https://doi.org/10.3390/robotics14100147

Chicago/Turabian Style

Saldarriaga-Mesa, Brayan, Julio Montesdeoca, Dennys Báez, Flavio Roberti, and Juan Marcos Toibero. 2025. "Open-Access Simulation Platform and Motion Control Design for a Surface Robotic Vehicle in the VRX Environment" Robotics 14, no. 10: 147. https://doi.org/10.3390/robotics14100147

APA Style

Saldarriaga-Mesa, B., Montesdeoca, J., Báez, D., Roberti, F., & Toibero, J. M. (2025). Open-Access Simulation Platform and Motion Control Design for a Surface Robotic Vehicle in the VRX Environment. Robotics, 14(10), 147. https://doi.org/10.3390/robotics14100147

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