Autonomous vessel

An autonomous vessel, comprising:

• a plurality of mooring lines, each extending from a different point on the vessel and having a distal end configured to be attached to an anchor or fixed point external to the vessel;
• a winch system mechanically coupled to the plurality of mooring lines, the winch system comprises a mooring line tension sensor configured to generate mooring line tension data;
• a vessel position sensor configured to generate positional data of the vessel;
• and
• a control system in operative communication with the winch system and the vessel position sensor, the control system configured to:
• process the positional data and the mooring line tension data to determine a deviation of the vessel from a target position or trajectory caused by environmental forces;
• and
• in response to determining the deviation, generate and transmit a control signal to the winch system, causing the winch system to automatically actuate and adjust a length of one or more of the plurality of mooring lines to counteract the environmental forces and correct the deviation, thereby maintaining the vessel at the target position or causing the vessel to follow the target trajectory through controlled maneuvering within a mooring spread.