1. Vehicle Engineering and Autonomous Systems, Department of Mechanics and Maritime Sciences, Chalmers University of Technology, Gothenburg 41296, Sweden e-mail:
2. Professor Marine Technology, Department of Mechanics and Maritime Sciences, Chalmers University of Technology, Gothenburg 41296, Sweden e-mail:
3. Professor Vehicle Engineering and Autonomous Systems, Department of Mechanics and Maritime Sciences, Chalmers University of Technology, Gothenburg 41296, Sweden
4. Vehicle Engineering and Autonomous Systems, Department of Mechanics and Maritime Sciences, Chalmers University of Technology, Gothenburg 41296, Sweden