passenger ferry for safe and easy urban transport in Trondheim. The main goal of this pilot project is to demonstrate autonomous technologies for passenger ships through a ferry operating in the Trondheim canal. Figure 3(a) shows the concept design of Autoferry. Figure 3(b) shows the route map intended for the fully autonomous operation of the full-scale ferry. xx Yara Birkeland will be the world's first zero-emission autonomous container ship. It is named after its owners, Yara International, and Yara's founder, Norwegian scientist Kristian Birkeland. It is designed by Marin Short Sea Transport Route 1 Short Sea Transport Route 2 Short Sea Transport Route 3 Figure 2. A map exhibiting the designated short-distance sea transport routes in Trondheim's fjord area for testing autonomous ships. (Map data © Google.) err sef i Cru ous nom o Aut e tr es V (a) us tle B t Shu a nkai Fose ai Auto ferr alk n Ka y y Ravnkloa To N idar os C athe dral (b) Figure 3. The Autoferry pilot project. (a) A drawing illustrating the concept design of the autonomous ferry. (Source: Petter Mustvedt; used with permission). (b) A photograph with labels that show the intended route of autonomous operations in the Trondheim canal. IEEE Elec trific ation Magazine / D EC EM BE R 2 0 1 9 35