**Author details**

Jakob M. Hansen1\*, Jan Roháč<sup>2</sup> , Martin Šipoš2 , Tor A. Johansen1 and Thor I. Fossen1

\*Address all correspondence to: jakob.mahler.hansen@itk.ntnu.no

1 Norwegian University of Science and Technology, Department of Engineering Cybernetics, Centre for Autonomous Marine Operations and Systems, Trondheim, Norway

2 Czech Technical University in Prague, Faculty of Electrical Engineering, Department of Measurement, Prague, Czech Republic
