Abstract
This paper has been written about the development of small ROVs for cave surveying. Because of the structure in a limestone cave that is intricate narrow, ROV must be a small. On the other hand, to explore long distance is required propulsion, increase in the size of the ROV cannot be avoided. Therefore, in this paper, the method of operation by connecting a plurality of small ROV has been proposed. In addition, in order to have a scalable search distance, the control network is built to add and remove ROV in the network that is running. In this paper, additional experiments the ROV to control network have been described primarily.
