| ABSTRACT |
The present invention discloses an underwater vehicle comprising a seasled body; a propulsion system mounted at rear end of the body having a cross-shaped structure defined by a top arm, a bottom arm, a arm left, and a right arm with respect to a posterior view of the body wherein the arms are respectively mounted with a first propeller, a second propeller, a third propeller and a fourth propeller on each back surfaces of the arms; a motor for rotating the propellers and a controller for controlling operation of the propulsion system and the motor wherein the propulsion system is configured to propel the vehicle through a fluid operating environment in a forward, a backward, a left. A right, an upward and a downward direction.
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