“…In maritime environments, systems are more susceptible to faults than in other environments due to environmental perturbations [ 1 , 2 ], corrosive conditions [ 3 , 4 ], and floating debris [ 5 , 6 , 7 ]. Moreover, recent research on navigational efficiency [ 8 , 9 ], use of renewable energy [ 10 , 11 , 12 , 13 , 14 ], situation awareness [ 11 , 15 ], improved communication methods [ 16 , 17 ], etc., applied to surface platforms is broadening spatial and temporal boundaries for unmanned surface platforms. Hence, with the anticipated expansion of unmanned vessels’ operational scope in the near future, if a vessel becomes immobilized due to a malfunction in the middle of the ocean, the time and cost for retrieval can be substantial.…”