Renato Mendes, PhD^1,2, Lucrezia Bernacchi³, Paulo Rúben Silva³, Miguel Aguiar⁴ and Joao Tasso Borges de Sousa², (1)+ATLANTIC CoLAB, Lisbon, Portugal, (2)University of Porto, Underwater Systems and Technology Lab (LSTS), LAETA, School of Engineering (FEUP), Porto, Portugal, (3)University of Porto, Underwater Systems and Technology Lab (LSTS), School of Engineering (FEUP), Porto, Portugal, (4)KTH Royal Institute of Technology, Division of Decision and Control Systems, School of Electrical Engineering and Computer Science, and Digital Futur, Stockholm, Sweden