  The energy of ocean waves is the key distinguishing factor of marine
environments compared to other aquatic environments such as lakes and rivers.
Waves significantly affect the dynamics of marine vehicles; hence it is
imperative to consider the dynamics of vehicles in waves when developing
efficient control strategies for autonomous surface vehicles (ASVs). However,
most marine simulators available open-source either exclude dynamics of
vehicles in waves or use methods with high computational overhead. This paper
presents ASVLite, a computationally efficient ASV simulator that uses frequency
domain analysis for wave force computation. ASVLite is suitable for
applications requiring low computational overhead and high run-time
performance. Our tests on a Raspberry Pi 2 and a mid-range desktop computer
show that the simulator has a high run-time performance to efficiently simulate
irregular waves with a component wave count of up to 260 and large-scale swarms
of up to 500 ASVs.
