1. School of Engineering, University of Limerick, Limerick, Ireland
2. Sea Traffic and Nautical Solutions, Fraunhofer Center for Maritime Logistics and Services (CML), Hamburg, Germany
3. XOCEAN, Rathcor, Louth, Ireland
4. SEC 11—Research and Development Hamburg Port Authority, Hamburg, Germany
5. Centre for Robotics and Intelligent Systems (CRIS), University of Limerick, Limerick, Ireland
6. ALMADA Research Centre, School of Computing, Engineering and Physical Science, University of the West of Scotland, Glasgow, U.K.