Simulation Platforms for Underwater Robotic Applications: Architectures, Capabilities, and Research Directions

ABSTRACT As underwater robotics advances, simulation platforms have become essential for enhancing research, development, and operational strategies. These platforms are crucial because they lower vehicle fabrication costs, mitigate risks, and recreate intricate marine environments. This review offers a detailed examination of prominent underwater simulators, emphasizing essential factors such as environmental modeling, robot kinematics and dynamics, control systems and navigation, sensor emulation, communications and their integration with artificial intelligence and machine learning workflows. We have given special focus to hydrodynamic modeling, visual rendering, and the simulation of realistic underwater phenomena like turbidity, wave interactions, and marine habitat dynamics. The review also evaluates each simulator's effectiveness in operator training, technology validation, and planning for multi‐robot missions. By comparing their designs, advantages, limitations, and specific applications, this study aims to assist in choosing suitable simulation tools. It also outlines potential developments to improve simulation accuracy and interoperability within underwater robotics.