Anthony Drago

Submitted: 13 November 2025 You are already at the latest version Subscription Notify me about updates to this article or when a peer-reviewed version is published. This version is not peer-reviewed.

This version is not peer-reviewed. Shraman Kadapa  *,Nicholas Marcouiller,Anthony C Drago,James Tangorra,Harry Kwatny Shraman Kadapa  *,Nicholas Marcouiller,Anthony C Drago,James Tangorra,Harry Kwatny Submitted: 15 October 2025 You are already at the latest version There is a growing demand for underwater robots to support offshore tasks such as exploration, environmental monitoring, and critical underwater missions.

1. Introduction In recent years, there has been significant interest in developing bio-inspired swimming vehicles that emulate the propulsive methods of biological systems. Biological swimmers utilize their bodies and propulsors to achieve remarkable maneuverability and agility, inspiring engineers to model these systems for improving the performance of underwater vehicles [1,2].