Abstract
This paper presents a physics-based unified modelling framework for wave-propelled uncrewed surface vehicles (USVs), combining manoeuvring, seakeeping, and wave-propulsion models into a cohesive architecture. The model is intended for a range of wave-propelled USVs, and is provided with closed-form expressions. A case study on a 5-meter AutoNaut vehicle demonstrates the model’s ability to reproduce realistic propulsion behaviour, and supports design of guidance and decision support systems for long-endurance ocean navigation.