## 4 Conclusions  
The study underscores the rapid evolution of Unmanned Surface Vehicles, driven by advancements in autonomy, energy efficiency, and sensor integration. USVs have transitioned from niche applications to widespread adoption across commercial, scientific, and defense sectors. The analysis of operative models highlights a strong emphasis on endurance, with many platforms optimized for long-duration missions. Propulsion and communication technologies continue to evolve, supporting the increasing demand for reliable, real-time remote operations. However, challenges remain in ensuring seamless integration of USVs into existing maritime infrastructure, particularly in regulatory compliance and cybersecurity.  
The findings also reveal that situational awareness technologies such as AIS, radar, and LiDAR are becoming standard components, enabling improved navigation and collision avoidance. The growing use of AI and machine learning in decision-making processes represents a promising step toward full autonomy. However, operational constraints, including adverse weather conditions and unpredictable maritime environments, necessitate continued innovation in hull design, energy storage, and control algorithms. The industry is gradually shifting toward greener propulsion solutions, with electric and hybrid systems reducing environmental impact while enhancing operational efficiency.  
Future research should focus on overcoming the primary barriers to widespread USV adoption, particularly in standardizing regulatory frameworks and addressing cybersecurity vulnerabilities. Additionally, the continued development of robust AI-driven autonomy will be critical in enabling fully autonomous maritime operations. By addressing these challenges, USVs can achieve their full potential as reliable and cost-effective assets in modern maritime operations.  
Conceptualization, E.M.d.A., J.S.S.J. and A.C.F.; methodology, E.M.d.A., J.S.S.J. and A.C.F.; formal analysis, E.M.d.A., J.S.S.J. and A.C.F.; investigation, E.M.d.A.; data curation, E.M.d.A., J.S.S.J. and A.C.F.; writing--original draft preparation, E.M.d.A.; writing--review and editing, E.M.d.A., J.S.S.J. and A.C.F.; visualization, E.M.d.A.; supervision, J.S.S.J. and A.C.F.; project administration, J.S.S.J. and A.C.F. All authors have read and agreed to the published version of the manuscript.  
The authors would like to thank the Programa de Recursos Humanos da Agencia Nacional do Petroleo, Gas Natural e Biocombustiveis (PRH18-ANP) for their support, supported with resources from investment by oil companies qualified in the P, D&I Clause of ANP Resolution no. 50/2015. This work was supported by the National Council for Scientific and Technological Development (CNPq) and the Foundation for Research Support of the State of Rio de Janeiro (FAPERJ) through the \"Jovem CienTRA do Nosso Estado\".  
The full table can be found at [[https://docs.google.com/spreadsheets/d/e/2](https://docs.google.com/spreadsheets/d/e/2) PACX-1 vSXQlv4 dDY7 Sv4 EwOBVMcvVRWSU-A3E0 zfxMH6 oQeab5b3 mDDjEmc6q2I9d67 xpPIZZoUXvCzw7 bKtYw/pubhtml?gid=0&single=true]([https://docs.google.com/spreadsheets/d/e/2](https://docs.google.com/spreadsheets/d/e/2) PACX-1 vSXQlv4 dDY7 Sv4 EwOBVMcvVRWSU-A3E0 zfxMH6 oQeab5b3 mDDjEmc6q2I9d67 xpPIZZoUXvCzw7 bKtYw/pubhtml?gid=0&single=true) (accessed on 18 April 2025).  
During the preparation of this manuscript, the authors used Grammarly and Writefull for the purposes of improve language and readability. The authors have reviewed and edited the output and take full responsibility for the content of this publication.  
The authors declare no conflicts of interest.