Path-Following Control Of Fully-Actuated Surface Vessels In The Presence Of Ocean Currents1 1Research Supported in Part by Project Grex / Cec-Ist (Contract No. 035223), Project Maya-Sub of the Adi (Pt), the Freesubnet Rtn of the Cec, and the Fct-Isr/Ist Plurianual Funding Program (Through the Pos-Conhecimento Program Initiative in Cooperation with Feder).