The study, published in the International Journal of Robotics Research, received funding from the Engineering and Physical Sciences Research Council.
An open access version of the paper is available here: https://www.research.ed.ac.uk/en/publications/nonlinear-model-predictive-dynamic-positioning-of-a-remotely-oper.
The work was a continuation of the now-finished ORCA Hub project, an initiative to support the green energy transition led by Edinburgh and Heriot-Watt University.