Carlos Barrera Gianluca Antonelli Massimo Caccia Gerard Dooly Achim Kopf Martin Ludvigsen Jan Opderbecke Maaten Furlong António Pascoal João Borges de Sousa Roberto Petroccia Pere Ridao Nikola Mišković Sen Wang September 2021 Accepted at OCEANS 2021. Related Projects EUMarineRobots