Some aquatic organisms use undulating membranes for forward swimming as well as to
generate remarkable directional maneuvers. However, the control of the fin to produce
similar swimming characteristics in underwater robotics remains a challenge. In this work,
we explore the maneuver control of a robotic underwater vessel in different flow conditions
with an arbitrary fin kinematics producing different wave shapes. The propulsion of the
robotic vessel consists of a single undulating fin running along the length of the robot, which …