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

arXiv · AI, language, vision and robotics · article · Sep 15, 2026 · UTC

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

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