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...