“…Although the anomalies listed above are typical of the AIS, other sensors (e.g., radar, lidar, and camera) have their own weaknesses (see, e.g., Elkins, Sellers, & Monach, 2010;Helgesen, 2019;Hermann, Galeazzi, Andersen, & Blanke, 2015;Kufoalor et al, 2019;Larson, Bruch, & Ebken, 2006;Prasad, Rajan, Rachmawati, Rajabally, & Quek, 2017;Schuster et al, 2014;Wilthil, Flåten, & Brekke, 2017). Fusion of several sensors will be needed to enhance the ASV's situational awareness, while faulttolerant strategies must be implemented to ensure that undesirable events do not lead to dangerous decisions by the ASV.…”