## 3 Literature Review
### Autonomous Maritime Systems  
The evolution of autonomous maritime systems has been marked by incremental advancements in technology and a growing recognition of the potential benefits these systems offer. Early forays into maritime autonomy focused primarily on unmanned surface vessels (USVs) and autonomous underwater vehicles (AUVs) used for specific applications such as surveillance [30], research, and military operations. These initial systems were largely controlled remotely or operated semi-autonomously, relying heavily on human intervention for decision-making and navigation [31]. Over the past decade, the scope of autonomous maritime systems has expanded significantly, encompassing a broader range of vessel types and operational frameworks [32]. Modern autonomous vessels are designed to operate with varying degrees of autonomy, from partial autonomy, where human operators oversee and intervene as necessary, to full autonomy, where vessels navigate and perform tasks without human input. This progression has been facilitated by advancements in sensor technologies, machine learning algorithms, and communication systems, which collectively enhance the capability of autonomous vessels to perceive their environment, make informed decisions, and execute maneuvers with precision [33]. Operational frameworks for autonomous maritime systems have also evolved to support their integration into existing maritime infrastructures. These frameworks encompass the development of navigation protocols, traffic management systems, and communication standards that enable autonomous vessels to coexist with traditional manned vessels. The integration of autonomous vessels into maritime traffic requires robust systems for collision avoidance [34], route planning, and real-time monitoring to ensure seamless and safe operations [35]. Additionally, the development of interoperable standards and interfaces is crucial for facilitating communication between autonomous vessels and maritime authorities, port authorities, and other stakeholders. The potential benefits of autonomous maritime systems are multifaceted. Enhanced operational efficiency is achieved through optimized routing and fuel consumption [36], reduced human error leading to increased safety, and minimized environmental impact through the precise control of emissions and energy usage. Furthermore, autonomous systems can operate continuously without the constraints of human fatigue, enabling more reliable and timely maritime operations. However, the transition to fully autonomous maritime systems also introduces complex challenges related to technology reliability, cybersecurity, and regulatory compliance, which must be addressed to realize the full potential of maritime autonomy [37]. In summary, while the development of autonomous maritime systems is advancing rapidly, the coordination of perception, decision-making, and regulatory compliance in real \begin{table}
\begin{tabular}{c c c c c} \hline \hline
**Sensor Type** & **Function** & **Advantages** & **Limitations** & **Common Applications** \\ \hline LIDAR [22; 23] & 3D mapping and obstacle detection & High-resolution spatial data & Limited range in adverse weather & Navigation, collision avoidance \\ \hline Radar [24; 25] & Long-range object detection & Effective in poor visibility conditions & Lower resolution compared to LIDAR & Traffic monitoring, navigation \\ \hline AIS [26] & Vessel identification and tracking & Real-time vessel information & Dependent on other vessels broadcasting & Traffic management, situational awareness \\ \hline Cameras [27; 28] & Visual data acquisition and analysis & High-detail imagery for object classification & Susceptible to lighting conditions & Computer vision, environmental monitoring \\ \hline Sonar [29] & Underwater obstacle detection & Effective in murky or dark waters & Limited to underwater applications & Submarine navigation, underwater surveys \\ \hline \hline \end{tabular}
\end{table} 
Table 1: Comparison of sensor types used in autonomous maritime systems.