# MMUSV-Sim: A Perception-Oriented Simulation and Data-Generation Platform for Multi-USV Cooperative Perception

arXiv: https://arxiv.org/abs/2608.14207 · HTML: https://mlsanity.com/paper/2608.14207/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 12 of its 21 references that are in the map.
- First posted on arXiv 14 Aug 2026.

## Builds on (most cited first, 12 of 12)

- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [PointPillars: Fast Encoders for Object Detection from Point Clouds](https://mlsanity.com/paper/1812.05784/) (2018)
- [Center-based 3D Object Detection and Tracking](https://mlsanity.com/paper/2006.11275/) (2020)
- [AirSim: High-Fidelity Visual and Physical Simulation for Autonomous Vehicles](https://mlsanity.com/paper/1705.05065/) (2017)
- [OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communication](https://mlsanity.com/paper/2109.07644/) (2021)
- [V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Driving](https://mlsanity.com/paper/2202.08449/) (2022)
- [Griffin: Aerial-Ground Cooperative Detection and Tracking Dataset and Benchmark](https://mlsanity.com/paper/2503.06983/) (2025)
- [Stonefish: Supporting Machine Learning Research in Marine Robotics](https://mlsanity.com/paper/2502.11887/) (2025)
- [USVTrack: USV-Based 4D Radar-Camera Tracking Dataset for Autonomous Driving in Inland Waterways](https://mlsanity.com/paper/2506.18737/) (2025)
- [SeePerSea: Multi-modal Perception Dataset of In-water Objects for Autonomous Surface Vehicles](https://mlsanity.com/paper/2404.18411/) (2024)
- [ASVSim (AirSim for Surface Vehicles): A High-Fidelity Simulation Framework for Autonomous Surface Vehicle Research](https://mlsanity.com/paper/2506.22174/) (2025)
- [KOLOMVERSE: Korea open large-scale image dataset for object detection in the maritime universe](https://mlsanity.com/paper/2206.09885/) (2022)

## Abstract (arXiv)

Cooperative perception among multiple unmanned surface vehicles (USVs) combines complementary observations to extend maritime target sensing beyond the view range and field of a single platform. Developing such systems at scale calls for a unified workflow for configurable multi-USV scenarios, multimodal acquisition, and shared annotations. We present MMUSV-Sim, a perception-oriented maritime simulation and data-generation platform built on Unreal Engine 5 and Project AirSim. It provides island, open-sea, and port environments; configurable weather, time of day, and wave conditions; a diverse vessel asset library; and spline-based multi-vessel motion. MMUSV-Sim acquires RGB, depth, semantic, LiDAR, and radar observations across multiple USVs and captures a common world state for per-agent annotation export. Experiments verify that the configured wave settings produce the intended changes in vessel heave, roll, and pitch, and evaluate the geometric consistency between projected annotations and semantic renderings. In LiDAR-based cooperative BEV vessel detection experiments on the generated multi-USV dataset, Early Fusion achieves an AP@0.5 of 72.74, compared with 45.54 using a single USV.