文献类型：期刊文献

英文题名：Learning to school in dense configurations with multi-agent deep reinforcement learning

作者：Zhu, Yi[1];Pang, Jian-Hua[1,2];Gao, Tong[3];Tian, Fang-Bao[4]

机构：[1]Guangdong Ocean Univ, Ocean Intelligence Technol Ctr, Shenzhen Inst, Shenzhen 518055, Guangdong, Peoples R China;[2]Guangdong Ocean Univ, Coll Ocean Engn, Zhanjiang 524088, Guangdong, Peoples R China;[3]Michigan State Univ, Dept Mech Engn, E Lansing, MI 48864 USA;[4]Univ New South Wales, Sch Engn & Informat Technol, Canberra, ACT 2600, Australia

年份：2023

卷号：18

期号：1

外文期刊名：BIOINSPIRATION & BIOMIMETICS

收录：SCI-EXPANDED(收录号：WOS:000885922400001)、、EI(收录号：20224813187905)、Scopus(收录号：2-s2.0-85142402294)、WOS

基金：Y Z acknowledges Shenzhen Institute of Guangdong Ocean University and Dalian Maritime University during the pursuit of this study. This work was partially supported by the Australian Research Council (Project Number DE160101098).

语种：英文

外文关键词：immersed boundary-lattice Boltzmann method; multi-agent deep reinforcement learning; fish schooling; collective motion; side-by-side swimming; staggered swimming

外文摘要：Fish are observed to school in different configurations. However, how and why fish maintain a stable schooling formation still remains unclear. This work presents a numerical study of the dense schooling of two free swimmers by a hybrid method of the multi-agent deep reinforcement learning and the immersed boundary-lattice Boltzmann method. Active control policies are developed by synchronously training the leader to swim at a given speed and orientation and the follower to hold close proximity to the leader. After training, the swimmers could resist the strong hydrodynamic force to remain in stable formations and meantime swim in desired path, only by their tail-beat flapping. The tail movement of the swimmers in the stable formations are irregular and asymmetrical, indicating the swimmers are carefully adjusting their body-kinematics to balance the hydrodynamic force. In addition, a significant decrease in the mean amplitude and the cost of transport is found for the followers, indicating these swimmers could maintain the swimming speed with less efforts. The results also show that the side-by-side formation is hydrodynamically more stable but energetically less efficient than other configurations, while the full-body staggered formation is energetically more efficient as a whole.