Acknowledgement
This research was supported by the project titled "Development of Underwater Robot Platform and its Control Technology to Overcome up to 3.5 knots of Sea Current," which was funded by the Ministry of Oceans and Fisheries (MOF) and the Korea Institute of Marine Science and Technology promotion (KIMST), Korea (20160148). In addition, it was partially supported by the project No. 17-CM-RB-16 titled "Development of Multi-sensor Fusion based AUV's Terminal Guidance and Docking Technology," which was funded by the Agency for Defense Development (ADD) in South Korea.
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