@article{berlinger2017robust, title={Robust maneuverability of a miniature, low-cost underwater robot using multiple fin actuation}, author={Berlinger, Florian and Dusek, Jeff and Gauci, Melvin and Nagpal, Radhika}, journal={IEEE Robotics and Automation Letters}, volume={3}, number={1}, pages={140--147}, year={2017}, publisher={IEEE} }