Investigation in biomimetic robotic fish is a multidisciplinary problem entirely involving hydrodynamics-based control and robotic technology. In this paper, grounded on an optimized kinematic propulsive model of fish that relate frequency to speed and joint angle bias to turns, a robotic fish and its motion control are designed. Information of multiple fishes' position and orientation, with real-time visual tracking, is then obtained for positioning in the coordinate experiment. The coordinated motions of the fishes are achieved by behavior-based strategies composed of role assignment, behavior selection and role transition. An experimental system for multiple robotic fishes' coordination is finally constructed to verify the proposed scheme and algorithms, and the running experiments of passing-hole and pushing-ball primarily show the effectiveness of the presented strategies.