1. Institute of Control and Computation Engineering; University of Zielona Góra; ul. Podgórna 50, 65-246 Zielona Góra Poland
2. Automatic Control Department; Universitat Politècnica de Catalunya; Rambla de Sant Nebridi, 11 08222 Terrassa Spain
3. Centre for Autonomous Marine Operations and Systems, Department of Engineering Cybernetics; Norwegian University of Science and Technology; Trondheim Norway
4. Institut de Robòtica i Informàtica Industrial; UPC-CSIC; Carrer de Llorens i Artigas, 4-6 08028 Barcelona Spain