1. SINTEF Ocean, Brattørkaia 17C, 7010 Trondheim, Norway
2. Institute of Marine Hydrodynamics, Harbin Engineering University, Harbin, China
3. Marine Technology Research Institute, CNR-INM, Via di Vallerano 139, 00128 Roma, Italy
4. Center for Autonomous Marine Operation Systems, NTNU-AMOS, Otto Nielsens Vei 10, N-7491 Trondheim, Norway
5. Department of Marine Technology, NTNU, Otto Nielsens Vei 10, N-7491 Trondheim, Norway