https://hmmt.ee/research/joe2026/index.html Strouhal-Aware Model Predictive Control for Efficient Multi-Fin Flapping Locomotion Yuya Hamamatsu, Zixi Chen, Maarja Kruusmaa, Asko Ristolainen Tallinn University of Technology Vrije Universiteit Brussel Code (Coming soon) arXiv Abstract Efficient flapping propulsion hinges on operating within a narrow Strouhal number window, a principle nature has converged upon for maximum thrust-to-power ratio. We translate this bioinspired empirical rule into real-time control, demonstrating it on an autonomous underwater vehicle driven by four soft fins. Hugo en-us