Related papers: Learning to swim in potential flow

Microswimmers in turbulent flows often navigate complex, heterogeneous, and obstacle-rich environments, where they exhibit intricate behaviors such as trapping at and escape from obstacles. We generalize recent $\mathcal{Q}-$learning…

A real-time motion training system for skydiving is proposed. Aerial maneuvers are performed by changing the body posture and thus deflecting the surrounding airflow. The natural learning process is extremely slow due to unfamiliar…

We present the concepts of physics-based learning models (PBLM) and their relevance and application to the field of ship hydrodynamics. The utility of physics-based learning is motivated by contrasting generic learning models for regression…

To optimize flapping foil performance, the application of deep reinforcement learning (DRL) on controlling foil non-parametric motion is conducted in the present study. Traditional control techniques and simplified motions cannot fully…

Deep reinforcement learning has recently been applied to a variety of robotics applications, but learning locomotion for robots with unconventional configurations is still limited. Prior work has shown that, despite the simple modeling of…

We examine the stability of the "coast" motion of fish, that is to say, the motion of a neutrally buoyant fish at constant speed in a straight line. The forces and moments acting on the fish body are thus perfectly balanced. The fish motion…

Robotic swimmers are currently a subject of extensive research and development for several underwater applications. Clever design and planning must rely on simple theoretical models that account for the swimmer's hydrodynamics in order to…

We present a novel motion planning algorithm for transferring a liquid body from a source to a target container. Our approach uses a receding-horizon optimization strategy that takes into account fluid constraints and avoids collisions. In…

Fish often travel in highly organized schools. One of the most quoted functions of these configurations is energy savings. Here, we verified the hypothesis and explored the mechanism through series of experiments on "schooling" robotic…

Learning to flexibly follow task instructions in dynamic environments poses interesting challenges for reinforcement learning agents. We focus here on the problem of learning control flow that deviates from a strict step-by-step execution…

We present a novel model of stochastic differential equations for foraging behavior of fish schools in space including obstacles. We then study the model numerically. Three configurations of space with different locations of food resource…

Control theory provides engineers with a multitude of tools to design controllers that manipulate the closed-loop behavior and stability of dynamical systems. These methods rely heavily on insights about the mathematical model governing the…

In the last few years, there have been many new developments and significant accomplishments in the research of bionic robot fishes. However, in terms of swimming performance, existing bionic robot fishes lag far behind fish, prompting…

Statistical shape modeling aims at capturing shape variations of an anatomical structure that occur within a given population. Shape models are employed in many tasks, such as shape reconstruction and image segmentation, but also shape…

While deep learning has shown tremendous success in a wide range of domains, it remains a grand challenge to incorporate physical principles in a systematic manner to the design, training, and inference of such models. In this paper, we aim…

In this paper we study the two dimensional motion of three linked rigid bodies moving through a fluid. The bodies change their orientation relative to each other in a way which mimics the swimming of fish. In contrast to previous…

Navigating efficiently across vortical flow fields presents a significant challenge in various robotic applications. The dynamic and unsteady nature of vortical flows often disturbs the control of underwater robots, complicating their…

Actuating periodically an elastic filament in a viscous liquid generally breaks the constraints of Purcell's scallop theorem, resulting in the generation of a net propulsive force. This observation suggests a method to design simple…

A flow control system is a critical concept for increasing the production capacity of manufacturing systems. To solve the scheduling optimization problem related to the flow control with the aim of improving productivity, existing methods…

Any swimmer embedded on a inertialess fluid must perform a non-reciprocal motion to swim forward. The archetypal demonstration of this unique motion-constraint was introduced by Purcell with the so-called "scallop theorem". Scallop here is…