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Suppose I built a small unmanned robotic ship (1.5 m long), and I intend to make it circumnavigate the Earth without stopping in any port along the way. Under international law, do I have to get permission from any authority in order for my ship to legally sail around the world?

As far as I can tell, this shouldn't be a problem if my ship is launched in international waters, and if the ship only sails in international waters (am I correct?). However, I am concerned about sailing in (or accidentally straying into) territorial waters, especially when transiting through narrow straits such as the Strait of Malacca or the Luzon Strait. What are the relevant laws that I should look into?

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