Most CI servers have a plugin for Xvfb, or you can do it from the command line: Xvfb :99 &.
At this point you will need to launch Xvfb before running your Selenium tests. In my case, I was missing the library libdbus-glib-1-2 which I could install just using apt-get. This may produce some errors, which you have to fix. For example, for Firefox you would try: xvfb-run firefox. Now try launching your browser headless. Unpack the package somewhere like /usr/local/lib, and then create a soft link from /usr/local/bin to the binary that launches the browser. Instead Google something like “Firefox off-line install”, or whatever browser you want to use, and then use wget on your server to grab the package. Assuming you are using a Debian server, you will not be able to install something like Firefox with apt-get, because the repositories are not present. On a Debian you install a headless browser like this: There are several tutorials on the Net that tell you how to install Xvfb, most of which are incomplete or wrong. You mentioned Ubuntu, which is a Debian derivative. Most systems will allow you to have a virtual GUI. 
PahntomJS is definitely an option, as it uses WebKit - the engine that is in Safari and Chrome browsers, but you would have to write your own API. GhostDriver has not been maintained for 2 years, and as such also makes for unreliable results.
Personally I would avoid both of these! HtmlUnit uses a JavaScript engine that none of the current desktop browsers support, and as such the tests are not very reliable. Another popular browser is PhantomJS, which has third-party Selenium bindings library called GhostDriver. There are headless browsers: browsers that also do not have a GUI component. What you are probably asking is: If I use Selenium to open a browser, is that browser going to work on a system with no GUI. Selenium is only a library, and as such it does not particularly care if you are running it on a system that is equipped with a GUI.
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