at the university of washington's aeronautics & astronautics department, nonlinear dynamics and control lab, they develop fin actuated autonomous underwater vehicles.
these auv fish are used to study shoaling/schooling/flocking/swarming behaviour [ 1 ][ 2 ][ 3 ][ 4 ]. they can communicate with each other underwater using low power, low frequency sonar reaching a bit rate of 80 bytes per second.
watch a king5 tv news item. more videos on the project's website. read more.