1. State Key Laboratory of Maritime Technology and Safety (SKLMTS), School of Transportation and Logistics Engineering Intelligent Transport Systems Research Center (ITSC), Wuhan University of Technology, Wuhan, China
2. State Key Laboratory of Maritime Technology and Safety (SKLMTS), Intelligent Transport Systems Research Center (ITSC) National Engineering Research Center for Water Transport Safety (WTSC), Wuhan University of Technology, Wuhan, China
3. Centre for Marine Technology and Ocean Engineering (CENTEC), Instituto Superior Técnico, Universidade de Lisboa, Lisbon, Portugal
4. State Key Laboratory of Maritime Technology and Safety (SKLMTS), Intelligent Transport Systems Research Center (ITSC), National Engineering Research Center for Water Transport Safety (WTSC), School of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan, China