Decentralized Reinforcement Learning for Multiple Robotic Fish in Cooperative Pursuit Task

The control of multirobot systems, particularly in the pursuit-evasion (PE) with multiple robots, has gained significant attention in both academic and nonacademic settings. However, the collaborative operation of multirobotic fish systems encounters substantial challenges due to the complex underwater environment and unique movement mode. In this article, we propose a multiagent reinforcement learning (MARL) approach to develop a viable strategy for underwater cooperative pursuit. Initially, considering the hydrodynamic model and motion characteristics of robotic fish, we construct a specific simulation environment with multiple fish-like agents, which provides a highly realistic state transition model. Next, we develop a MARL-based strategy learning framework that incorporates appropriate reward functions and agent actions for policy learning. Finally, a series of comprehensive simulations and practical experiments are conducted to validate the effectiveness of the proposed method and confirm its successful application in underwater pursuit scenarios. These findings offer valuable insights for further research in underwater multiple robot systems.