@article{swimandbreachatpalmscalearuddersteeredtw,
  title = {Swim-and-Breach at Palm Scale: A Rudder-Steered Two-Propeller Underwater Robot Platform with Differential-Thrust Pitch Control},
  author = {Daehyun Choi and Ian Bergerson and Hengjia Zhu and Tianjun Lan and Saad Bhamla},
  year = {2026},
  eprint = {2609.17240},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2609.17240},
}