Dandan Zhang Long Wang Guangming Xie Weicun Zhang Coordinated Collision Avoidance of Multiple Biomimetic Robotic Fish. 215-224 2005 conf/ausai/2005 Australian Conference on Artificial Intelligence http://dx.doi.org/10.1007/11589990_24 db/conf/ausai/ausai2005.html#ZhangWXZ05