1. International Joint Research Laboratory for Autonomous Robotic Systems, Hangzhou Dianzi University , Hangzhou 310018 , China
2. HDU-ITMO Joint Institute, Hangzhou Dianzi University , Hangzhou 310018 , China
3. Institute of Hydrodynamics and Control Processes, Saint-Petersburg State Marine Technical University , Saint Petersburg 190121 , Russia
4. Jeely Automative Institute, Hangzhou Vocational & Technical School , Hangzhou 310018 , China
5. Faculty of Control Systems and Robotics, ITMO University , Saint Petersburg 197101 , Russia