The use of the underwater robotic vehicle (URV) has experienced tremendous growth. They are essential at depths where the use of human divers is impractical. Traditionally, URVs can be broadly classified as a remotely operated vehicle (ROV) and an autonomous underwater vehicle, depending on their designed tasks and modes of operations. This chapter shows the basic design of the ROV and its task. It is used to perform underwater pipeline inspections such as locating pipe leakages or cracks. The chapter focuses on the verification of the added mass parameter and the drag force coefficient by comparing the value predicted by computation fluid dynamic and that to be obtained experimentally using the scaled down model of the ROV. The free-decay test has been proposed to identify the hydrodynamic parameters of the ROV. The navigation sensor block simulates the navigation system consisting of external sensors for estimating the location and pose of the ROV with respect to its body-fixed frame.