"....There were plans for a noodle boat in a fairly recent model boats mag..."
Several years ago I drafted up an EeZeBilt RIB. This used foam pipe insulation (ready-split!) for the inflatable section, had a standard brushless prop and used a servo hidden in a dummy outboard to swing the outboard for use as a rudder.
I never completed the boat, and did not publish the plans, but if there is some interest I will look at revisiting the idea. Here are a few pics of what the boat was to look like: