1. Centre for Autonomous Marine Operations and Systems (AMOS), Department of Engineering Cybernetics (ITK); Norwegian University of Science and Technology (NTNU); Trondheim Norway
2. Research Center for Supervision, Safety and Automatic Control (CS2AC); Universitat Politècnica de Catalunya (UPC); Terrassa 08222 Spain
3. Scuola di Scienze e Tecnologie; Università di Camerino; Camerino Italy