Decentralized Circle Formation Control for Fish-like Robots in the Real-world via Reinforcement Learning
Tianhao Zhang,Yueheng Li,Shuai Li,Qiwei Ye,Chen Wang,Guangming Xie,Tianhao Zhang,Yueheng Li,Shuai Li,Qiwei Ye,Chen Wang,Guangming Xie
In this paper, the circle formation control problem is addressed for a group of cooperative underactuated fish-like robots involving unknown nonlinear dynamics and disturbances. Based on the reinforcement learning and cognitive consistency theory, we propose a decentralized controller without the knowledge of the dynamics of the fish-like robots. The proposed controller can be transferred from sim...
