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This paper presents a multi-agent robotic fish system used for mariculture monitoring. Autonomous robotic fish is designed to swim underwater to collect marine information such as water temperature and pollution level. Each robotic fish has 5 degrees of freedom for controlling its depth and speed by mimicking a sea carp. Its bionic body design enables it to have high swimming efficiency and less disturbance to the surrounding sea lives. Several onboard sensors are equipped for autonomous 3Ddoi:10.1016/s1672-6529(14)60098-6 fatcat:l2j2rwtif5bgrjlbv4uk7cxdti