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Undulating propulsion is promising solution for underwater vehicles used in subsea security systems, especially due to its low noise, better energetic efficiency, low water turbulence and living animals mimicry. The design of the biomimetic autonomous underwater vehicle (BAUV) for intelligence surveillance and reconnaissance (ISR), built in the SABUVIS project, is presented in the paper. The shape of the vehicle hull was inspired by living fish. Key aspects of the design and construction of BAUV needed to achieve tasks required to be performed by the robot are described. Two research questions are stated in the paper: how big drag forces act on a biomimetic underwater vehicle and how mechanical design influences the noise level generated by the vehicle. To answer these questions vehicle forward velocity, hull drag, added mass and generated noise were investigated. Forces acting on the BAUV hull while being pulled forward and sideways were measured. Noise generated by the vehicle was also measured for two types of propulsors’ drives in order to select those with the lower sound pressure level. Quantitative results of drag and noise obtained in the research are important for designers of mechanical structures of useful, full scale biomimetic underwater robots and their control subsystems.