1. Department of Electrical, Electronic, Telecommunications Engineering, and Naval Architecture (DITEN), University of Genoa, Genoa, Italy
2. Department of Informatics, Bioengineering, Robotics, and System Engineering (DIBRIS), University of Genoa, Genoa, Italy
3. National Research Council of Italy, Institute for the Study of Anthropic Impact and Sustainability in the Marine Environment (CNR-IAS), Genoa, Italy