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Figure 9. Tandem formation of fish.
Figure 10. Parallel formation of fish (Li ≥ and Ki ≥ 0, i = 1, 2, …, n)
fitting, the phase difference was found to be linearly related to the phase difference, as shown in Figure 11A
and B. Subsequent experiments confirmed that fish also exhibit this swimming strategy. Without a
complicated vision system and artificial lateral line system (ALLS), this swimming strategy can reduce
energy consumption and enhance swimming efficiency. This is quite crucial. The swimming speed and
[51]
energy consumption of a single robot fish and two parallel robot fishes were investigated by Li et al. . It
was discovered that, regardless of the tail-beat phase difference, maintaining a parallel formation always
increased their swimming speed and decreased their energy consumption. Furthermore, the authors
hypothesized that fish can balance their consumption with the benefits they receive from their neighbors by
