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Marine robots, particularly Unmanned Surface Vessels (USVs), have gainedconsiderable attention for their diverse applications in maritime tasks,including search and rescue, environmental monitoring, and maritime security.This paper presents the design and implementation of a USV namedmarine$\mathcal{X}$. The hardware components of marine$\mathcal{X}$ aremeticulously developed to ensure robustness, efficiency, and adaptability tovarying environmental conditions. Furthermore, the integration of avision-based object tracking algorithm empowers marine$\mathcal{X}$ toautonomously track and monitor specific objects on the water surface. Thecontrol system utilizes PID control, enabling precise navigation ofmarine$\mathcal{X}$ while maintaining a desired course and distance to thetarget object. To assess the performance of marine$\mathcal{X}$, comprehensivetesting is conducted, encompassing simulation, trials in the marine pool, andreal-world tests in the open sea. The successful outcomes of these testsdemonstrate the USV's capabilities in achieving real-time object tracking,showcasing its potential for various applications in maritime operations.

Marine$\mathcal{X}$: Design and Implementation of Unmanned Surface Vessel for Vision Guided Navigation