1 Introduction

2 Designs of robot fishes  
2.1 Robot fishes in BCF propulsion mode  
2.2 Robot fishes in MPF propulsion mode  
2.3 Robot fishes in BCF-MPF propulsion mode  

3 The motion mechanism of robot fishes  
3.1 Theoretical analysis  
3.2 Experimental observation  
3.3 Numerical simulation  
3.4 Multiple research methods  

4 Motion coordination and communication of multiple robot fishes  
4.1 Motion coordination of multiple robot fishes  
4.2 Communication of multiple robot fishes  

5 Challenges and future work

6 Conclusion