An unmanned surface vehicle (USV), also termed an uncrewed surface vehicle or autonomous surface vessel, is a marine craft that operates on the water surface without a human crew onboard, executing missions through remote control by an operator or through onboard autonomous navigation, guidance, and control systems ^[1]. The USV comprises the surface hull, propulsion and steering, sensors for environmental perception and navigation, an onboard computing and control system, and a communication link to a remote operator or shore station; the degree of autonomy ranges from fully remote-controlled teleoperation to self-governed operation with limited human supervision [1]. USVs are distinguished from unmanned underwater vehicles, which operate beneath the surface, and from conventional crewed vessels by the absence of onboard personnel; they may operate on inland waters, coastal areas, or open ocean and are governed by maritime collision regulations adapted to uncrewed operation ^[2]. The platform relies on real-time perception, state estimation, and path planning to maintain station, follow tracks, and avoid obstacles in the presence of waves, currents, and wind disturbances ^[3].