动态约束下可重构模块机器人分散强化学习最优控制
董博1, 刘克平2, 李元春2

Decentralized reinforcement learning optimal control for time varying constrained reconfigurable modular robot
DONG Bo1, LIU Ke-ping2, LI Yuan-chun2
图7 采用ACI强化学习的跟踪误差曲线
Fig.7 Tracking error curve with ACI