1. Centre for Autonomous Marine Operations and Systems, Norwegian University of Science and Technology, Otto Nielsens Veg 10, Trondheim NO-7491, Norway
2. Centre for Biorobotics, Department of Computer Systems, Tallinn University of Technology, Akadeemia tee 15A, 12618 Tallinn, Estonia
3. Institute of Agricultural and Environmental Sciences, Estonian University of Life Sciences, Fr.R.Kreutzwald 5, 51006 Tartu, Estonia