ASV-Swarm: a high-performance simulator for the dynamics of a swarm of autonomous marine vehicles in waves. - Toby Thomas; David M. Bossens; Danesh Tarapore (CoRR, 2020)

ASVLite: a high-performance simulator for autonomous surface vehicles. - Toby Thomas; David M. Bossens; Danesh Tarapore (ICRA, 2021)