Swim-and-Breach at Palm Scale: A Rudder-Steered Two-Propeller Underwater Robot Platform with Differential-Thrust Pitch Control

We present a palm-scale (65 mm, 34 g) swim-and-breach robot platform. Two vertically stacked propellers provide both propulsion and differential-thrust pitch control under a proportional-integral-derivative (PID) loop, and a tail rudder adds yaw control. The hull, evaluated by flow simulation, reduc