This paper presents 3D path tracking simulations and path-following by experimental testing with a small inspection class ROV. The ROV is underactuated, but moves freely in surge, heave and yaw (4 DOF). Paths used are a spiral for path-tracking and a lawnmower pattern for path-following, where both paths are related to a proposed structural setting and a mission. The structure is a cylindrical fishing cage used for fish farming in the aquaculture, and the task is to perform inspection with equipped cameras and sensors while tracking or following the path.

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