Different solutions to stop automatically a vessel, which includes at least a first cycloidal propeller unit and a second cycloidal propeller unit, are disclosed. During a stopping procedure motion control values of at least the first cycloidal propeller unit are adjusted to cause, while maintaining a movement direction of the vessel to be according to a latest steering command, the first cycloidal propeller unit to brake in a first mode or in a second mode. In the first mode the main wheel is rotating, and blades of the cycloidal propeller unit are rotated to change a thrust direction towards to a reverse thrust direction. In the second mode either the main wheel is kept in a first position and the blades are positioned individually towards a corresponding predetermined angle to the movement direction or the blades are kept in first positions and the main wheel is rotated.

Different solutions to stop automatically a vessel, which includes at least a first cycloidal propeller unit and a second cycloidal propeller unit, are disclosed. During a stopping procedure motion control values of at least the first cycloidal propeller unit are adjusted to cause, while maintaining a movement direction of the vessel to be according to a latest steering command, the first cycloidal propeller unit to brake in a first mode or in a second mode. In the first mode the main wheel is rotating, and blades of the cycloidal propeller unit are rotated to change a thrust direction towards to a reverse thrust direction. In the second mode either the main wheel is kept in a first position and the blades are positioned individually towards a corresponding predetermined angle to the movement direction or the blades are kept in first positions and the main wheel is rotated.