1. Department of Information Engineering, University of Pisa, 56122 Pisa, Italy
2. Naval Support and Experimentation Centre, Italian Naval Academy, 57127 Livorno, Italy
3. Italian Naval Academy, Italian Navy, 57127 Livorno, Italy
4. NATO Science and Technology Organization, Centre for Maritime Research and Experimentation, 19126 La Spezia, Italy
5. Department of Product & Systems Design Engineering, University of the Aegean, A 1.7.1 Hermoupoli, GR84100 Syros, Greece