Digital Twin of Autonomous Surface Vehicles: From Standard Methodologies Towards Extended Data-Based Models

The development of Autonomous Surface Vehicles (ASVs) has significantly advanced with the integration of digital twin technology. A digital twin serves as a virtual replica of a physical ASV, providing real-time monitoring, analysis, and control capabilities. This work explores the multifaceted nature of digital twin development for autonomous surface vehicles, highlighting the incorporation of modeling and identification techniques for robotic systems, deriving from the standard procedures employed in naval systems following the ITTC guidelines. F