The most commonly used Autonomous underwater vehicles (AUVs) have shapes and structures similar to submarines and winged torpedoes, and maneuver using their fins, wings, stabilizers, and through changing the direction of their thrust vector. Existing systems have some disadvantages: (i) drag forces and torques exerted on the thrusters significantly affect the efficiency of reorientation maneuvers, (ii) since thrusters are operational during reorientation maneuvers, a substantial amount of power is consumed to pump the bulk fluid, wasting the precious power storage of the vehicle, and (iii) the translational and attitude dynamics of model submarines and torpedo-like AUVs are highly coupled, and therefore, the vehicle cannot perform in-place attitude maneuvers. Also, biomimetic swimmers with flapping wings or tails are not energy-efficient. To address these problems, UC Berkeley resesarchers have developed a new swimmer with high maneuverability. The swimmer has no external fins, wings, or appendages for attitude control or stabilization, and does not generate excess flows while maneuvering. The swimmer has two counter-rotating propellers only for forward propulsion. The novel AUV experiences the least form drag, and can make rapid in-place turns without turning off its propellers.