Unmanned aquatic vehicles and robots are of tremendous importance in a variety of
applications. In this paper, we present the model of an underactuated aquatic robot that is …

The control and motion planning of bioinspired swimming robots is complicated by the fluid–
robot interaction, which is governed by a very high (infinite)-dimensional nonlinear system …

It is known that the passive mechanics of fish appendages play a role in the high efficiency
of their swimming. A well-known example of this is the experimental demonstration that a …

This paper is concerned with a nonholonomic system with parametric excitation—the
Chaplygin sleigh with time-varying mass distribution. A detailed analysis is made of the …

This paper addresses the swimming dynamics and control of a flexible fish-inspired robot
based on closed-loop control of an internal reaction wheel. Previous studies have shown …

Theoretical guarantees of capture become complicated in the case of a swimming fish or fish
robot because of the oscillatory nature of the fish heading. Building on the connection …

A mathematical model that invokes the Kutta condition to account for vortex shedding from
the trailing edge of a free hydrofoil in a planar ideal fluid is compared with a canonical model …

This paper is concerned with the motion of an aquatic robot whose body has the form of a
sharp-edged foil. The robot is propelled by rotating the internal rotor without shell …

Fish outperform current underwater robots in speed, agility, and efficiency of locomotion, in
part due to their flexible appendages that are capable of rich combinations of modes of …

Inline oscillating foils can obtain hydrodynamic benefits by adequately maintaining their
spacing and interacting with the oncoming wakes. Since the complexity increases with the …