Artificial Fishes: Autonomous Locomotion, Perception, Behaviour, and Learning in a Simulated Physical World.
Terzopoullos, Demetri and Xiaoyuan Tu and Radek Grzeszcuk.
Artificial Fishes: Autonomous Locomotion, Perception, Behaviour, and Learning in a Simulated Physical World. Artificial Life 1, no. 4 (Summer 1994): 327-351.