cybergalactic/MSS

The Marine Systems Simulator (MSS) is software that supplements the textbook "Handbook of Marine Craft Hydrodynamics and Motion Control," 3rd Edition, by T. I. Fossen, published in 2027 (in progress) by John Wiley & Sons Ltd.

What it solves

Marine Systems Simulator (MSS) provides a comprehensive environment for designing and testing marine control systems. It addresses the challenge of simulating 6-DOF (six degrees of freedom) maneuvering, guidance, navigation, and control (GNC) for a variety of marine craft, including ships, underwater vehicles (AUVs), uncrewed surface vehicles (USVs), and floating structures.

How it works

Built as a MATLAB/GNU Octave library, MSS uses a unified workflow to build vessel models from seakeeping data (sourced from ShipX, WAMIT, or the open-source Capytaine). It implements 12-state, 6-DOF equations of motion via the hydroVessel.m function and provides a reusable simulation template (SIMhydroVessel.m) that supports irregular seas, wave spectra, ocean currents, and autopilot or dynamic-positioning control.

Who it’s for

Engineers and researchers specializing in marine hydrodynamics, control systems, and autonomous marine vehicles.

Highlights

  • Comprehensive GNC Library: Includes 2D/3D path-following (LOS, ILOS, ALOS), nonlinear MIMO PID control, and control allocation.
  • Advanced Navigation: Features aided error-state Kalman filters (ESKFs) and multiplicative extended Kalman filters (MEKFs) for inertial navigation and attitude estimation.
  • Open-Source Integration: Connects to the open-source Capytaine solver for a free workflow to generate hydrodynamic vessel models.
  • Multi-Platform Support: Compatible with both MATLAB and GNU Octave.

Related

  • Project
    NVIDIA-ISAAC-ROS/isaac_ros_nvblox

    A ROS 2 integration for nvblox that enables real-time 3D scene reconstruction and 2D costmap generation for robot navigation and obstacle avoidance.

  • Project
    osrf/vrx

    A simulation environment for unmanned surface vehicles in marine environments, designed for prototyping autonomous maritime robotics solutions.

  • Project
    zita-ch/supermimic_vibed

    This project is an independent reproduction of the SuperMimic method for whole-body humanoid control. It trains a policy to track LAFAN1 motions using a differentiable world model, achieving results on par with the paper in under 1.5 GPU-hours on a single GPU.

  • Project
    FluxVLA/FluxVLA

    FluxVLA Engine is an open‑source, end‑to‑end platform for training, evaluating, and deploying vision‑language‑action (VLA) models for robots. It offers unified configuration, modular model back‑ends, benchmark suites (LIBERO, RoboCasa, RoboDojo), and deployment tools (Docker, Jetson Orin, Triton, ZMQ) with real‑robot demos on Franka and Oli.