“…Most of them focus on AUV, e.g., risk management [5,50,54], risk assessments [6-8, 13, 14], incident investigation [30,47], or the influence of the human operators [17,49]. Unmanned and autonomous ships are briefly analyzed [37,38,43,44]. Huang et al [21] propose a generic framework for deriving contextual performance metrics for unmanned systems, but do not cover safety, explicitly.…”