English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

In this paper, the circle formation control problem is addressed for a groupof cooperative underactuated fish-like robots involving unknown nonlineardynamics and disturbances. Based on the reinforcement learning and cognitiveconsistency theory, we propose a decentralized controller without the knowledgeof the dynamics of the fish-like robots. The proposed controller can betransferred from simulation to reality. It is only trained in our establishedsimulation environment, and the trained controller can be deployed to realrobots without any manual tuning. Simulation results confirm that the proposedmodel-free robust formation control method is scalable with respect to thegroup size of the robots and outperforms other representative RL algorithms.Several experiments in the real world verify the effectiveness of our RL-basedapproach for circle formation control.

Decentralized Circle Formation Control for Fish-like Robots in the Real-world via Reinforcement Learning