Fig. 5: Chemotactic navigation in periodic cellular vortices with a vortical velocity Uv.
From: Chemotactic navigation in robotic swimmers via reset-free hierarchical reinforcement learning
Swimmers start from (0, 0) with the goal of reaching a chemical source positioned at (4, 4). a, b A chain model swims in vortices with \({U}_{{\rm{v}}}=0.005\hat{\Omega }L\) and \({U}_{{\rm{v}}}=0.03\hat{\Omega }L\), respectively. The background color denotes the dimensionless flow vorticity. The inset of A depicts the typical streamlines. c Statistics of successful chemotaxis versus the vortical strength Uv, where crosses and circles signify failures and successes, respectively. d, e similar to a and b, but for a ring swimmer, with \({U}_{{\rm{v}}}=0.0005\hat{\Omega }L\) and \({U}_{{\rm{v}}}=0.005\hat{\Omega }L\), respectively. f Similar to c, while for a ring swimmer. Source data is provided as a Source Data file.
