“…There seem to be diverse interests in solving problems associated with different themes: (43%) risk of collisions, (26%) river navigation management systems, (13%) autonomous ships, (9%) river navigation charts, (4%) depth measurement systems, and (4%) risk of attack by piracy ( Figure 6 ). Some of the characteristics of this subdomain are set out below: - Collision risk: Unlike the first domain, where there is also a majority interest in the problems associated with the risk of collisions, in the smart navigation domain, the problem is addressed from the perspective of data collected on the vessel itself, and in that the technologies are associated with internal sensors, also in order to avoid obstacles [ 49 , 50 , 51 , 52 , 53 , 54 , 55 , 56 , 57 , 58 , 59 , 61 ]. For example, authors in [ 60 ] proposed a method based on the measurement of approach speeds to detect collision candidates.
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