3-dimensional modeling AIS Data Guidance, Navigation and Control History of engineering & technology L2-gain LESO LQR Technology: general issues adaptive sliding mode autonomous navigation collision avoidance collision risk cooperative game theory course keeping early warning system fin stabilizer functional fuzzy inference genetic algorithm guidance algorithm heel/roll reduction marine vessel multi-joint autonomous underwater vehicle (MJ-AUV) multicriteria route planning neural networks non-linearity nonlinear feedback oceanic meteorological routing optimal damping particle swarm optimization