# OtterROS: Picking and Programming an Uncrewed Surface Vessel for Experimental Field Robotics Research with ROS 2

arXiv: https://arxiv.org/abs/2404.05627 · HTML: https://mlsanity.com/paper/2404.05627/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 8 Apr 2024.

## Built on by (most cited first, 1 of 1)

- [Evaluating Robustness of Deep Reinforcement Learning for Autonomous Surface Vehicle Control in Field Tests](https://mlsanity.com/paper/2505.10033/) (2025)

## Abstract (arXiv)

There exist a wide range of options for field robotics research using ground and aerial mobile robots, but there are comparatively few robust and research-ready uncrewed surface vessels (USVs). This workshop paper starts with a snapshot of USVs currently available to the research community and then describes "OtterROS", an open source ROS 2 solution for the Otter USV. Field experiments using OtterROS are described, which highlight the utility of the Otter USV and the benefits of using ROS 2 in aquatic robotics research. For those interested in USV research, the paper details recommended hardware to run OtterROS and includes an example ROS 2 package using OtterROS, removing unnecessary non-recurring engineering from field robotics research activities.