Model Identification, Dynamic Positioning, and Thrust Allocation System for the milliAmpere1 Autonomous Ferry Prototype: Field Trial Results. - Miguel A. Hinostroza; Camilla Fruzzetti; Andreas Gudahl Tufte; Simon J. N. Lexau; Alexey Gusev; Egil Eide; Edmund Brekke; Anastasios M. Lekkas; Roger Skjetne; Michele Martelli; Morten Breivik (IEEE Access, 2025)