# Development and Performance Measurement of an Affordable Unmanned Surface Vehicle (USV)
## 1 Introduction  
Indonesia is a country in Southeast Asia and Oceania located between the Indian and Pacific oceans. It consists of over seventeen thousand islands, including Sumatra, Java, Sulawesi, and parts of Borneo and New Guinea of which three-quarters of its territory is a sea. It is reasonable that Indonesia has enormous coastal resources and biodiversity. To support Indonesia's maritime program to strengthen the identity as a maritime country, and the economic development of maritime and marine, the government require the tools to carry out bathymetry mapping, a mapping to monitor the topographical condition of the seabed, which is beneficial for determining safe shipping lanes, planning coastal buildings, planning underwater pipelines, planning offshore drilling, and detecting Tsunamis. Suitable for these duties is the Unmanned Surface Vehicle (USV), which is an autonomous boat operated on the surface of the water without a crew, and which surveys the area autonomously in line with what has been programmed by the operator into the module. Previously, unmanned vehicles, such as Unmanned Aerial Vehicles (UAV) and Unmanned Ground Vehicles (UGV)/mobile robots, had become popular research topics in developing countries because of their versatility, and ease of development. For example,the development of an ornithopter-shaped UAV controlled by a radio control system [1], the development of a UAV embedded with a disinfect spraying system to break the chain of the COVID-19 virus [2], and fuzzy-based fault-tolerant control for an omnidirectional mobile robot with four mecanum wheels [3]. The Unmanned Surface Vehicle is the same as others being controlled automatically by giving commands from the Ground Control Station (GCS). Prior to issuing a command, GCS receives data from the sensors, which are integrated into the USV, for instance Global Positioning System (GPS), Compass, and Inertial Measurement Unit (IMU). These sensors are powerful as long as there is no interference with magnetic disturbance [4] and they are calibrated regularly to generate accurate data to achieve the desired position. In its application, USV incorporated with various sensors can directly map the topography of water and operate for a long period without polluting the water. USV is very potential to be used in surveillance missions in certain areas such as: monitoring certain areas or observing events that are not safe for humans, monitoring foreign ships around Indonesia that are likely to commit illegal fishing. USV can also be used for monitoring and data retrieval missions for instance monitoring seamount activity, mapping marine resources, and capturing offshore data [5]. Because USVs are relatively small in size, this makes them particularly suitable for operation in areas that are difficult to access (dams, rivers, shallow waters, canals, etc.). USV operates in a more environmentally friendly way and can be used in hazardous operations. Compared to the Manned Surface Vehicle, a USV can reduce manufacturing and operational costs. Currently, the USVs that have been developed can produce energy to supply their power. The power can be obtained from solar radiation, wind gusts, and ocean waves. By using this energy, the USV can be operated for an extended period and at a minimum cost [6]. In the laboratory scale, certain studies associated with Unmanned Surface Vehicle have been conducted for example the simulation of autonomous boat dynamic model [7] and experimental study of autonomous boat aerodynamics [8] by Diponegoro University researchers. USV trends and challenges nowadays have been revealed by [PERSON] et al. [9]. Meanwhile, in its application, there were several research concerns with USVs. The development of USVs for nearly 15 years is introduced by [PERSON] et al. [10]. [PERSON] et al. employed the structure of catamaran USV aimed for estuary research; they applied Robotics Operating System (ROS) installed into Jetson Nano [11] which was also applied by [PERSON] et al. for sediment sampling [12]. [PERSON] et al.