  In a recent paper, the authors investigated the controllability of an
underwater vehicle immersed in an infinite volume of an inviscid fluid,
assuming that the flow was irrotational. The aim of the present paper is to
pursue this study by considering the more general case of a flow with
vorticity. It is shown here that the local controllability of the position and
the velocity of the underwater vehicle (a vector in R 12) holds in a flow with
vorticity whenever it holds in a flow without vorticity.
