Fig. 3: Example trajectory of the velocity RL swimmer. | Nature Communications

Fig. 3: Example trajectory of the velocity RL swimmer.

From: Learning efficient navigation in vortical flow fields

Fig. 3: Example trajectory of the velocity RL swimmer.

a Trajectory plotted in a cylinder-fixed frame, showing the swimmer successfully navigate from its starting location to the target. b Segment of this trajectory plotted in a wake-stationary frame of reference on top of the background flow field, which highlights the swimmer exploiting low-velocity regions in the cylinder wake to swim upstream. The swimming direction is plotted at each time step along the trajectory, revealing that this RL swimmer adjusts it swimming direction in response to the changing background flow, enabling time-efficient navigation.

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