LOTUSim-Energy: A Maritime Simulator for Human-Drone Interaction in Autonomous Offshore Operation \& Maintenance

• URL: http://arxiv.org/abs/2609.17124v1
• Date: Tue, 15 Sep 2026 12:49:54 GMT
• Title: LOTUSim-Energy: A Maritime Simulator for Human-Drone Interaction in Autonomous Offshore Operation \& Maintenance
• Abstract summary: LOTUSim-Energy is a real-time maritime simulator designed for multi-domain human--drone interaction for offshore operation and maintenance.<n>The simulator supports realistic physics, energy-aware battery modeling, and fault-detection pipelines as modular validation tools.
• Score: 0.5545791216381868
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Offshore maintenance requires operations in the air, the surface, and the subsea domain and include human supervision. This paper presents LOTUSim-Energy, a real-time maritime simulator designed for multi-domain human--drone interaction for offshore operation and maintenance. The plat- form unifies heterogeneous unmanned vehicles (Unmanned Aerial Vehicles: UAVs, Unmanned Surface Vehicles: USVs, Autonomous Underwater Vehicles: AUVs, Remotely Operated Vehicles: ROVs) within a distributed architecture coupling environment forcing (wind, waves, currents) and provides immersive user interfaces for supervision (desktop and virtual reality). A structured offshore task library enables repeatable evaluation of autonomy stacks under realistic metocean disturbances. The simulator supports realistic physics, energy-aware battery modeling, and fault-detection pipelines as modular validation tools. System-level performance is demonstrated on a multi-domain inspection scenario for monopile and transition piece structure, where we evaluate the reliability of integrated waypoint-follower plugin and Automatic Identification System (AIS)-referenced trajectory tracking under real-time energy monitoring. By combining unified environmental physics, heterogeneous vehicle simulation, and immersive supervision, LOTUSim-Energy provides an integration testbed for prototyping and rehearsing offshore human--robot collaboration workflows, as a step toward de-risking sea deployment.

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