Learning to swim in potential flow

@article{Jiao2021LearningTS,
  title={Learning to swim in potential flow},
  author={Yusheng Jiao and Feng Ling and Sina Heydari and Nicolas Manfred Otto Heess and Josh Merel and Eva Kanso},
  journal={ArXiv},
  year={2021},
  volume={abs/2009.14280}
}
Fish swim by undulating their bodies. These propulsive motions require coordinated shape changes of a body that interacts with its fluid environment, but the specific shape coordination that leads to robust turning and swimming motions remains unclear. We propose a simple model of a three-link fish swimming in a potential flow environment and we use model-free reinforcement learning to arrive at optimal shape changes for two swimming tasks: swimming in a desired direction and swimming towards a… 

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