期刊名称：Proceedings of the National Academy of Sciences
印刷版ISSN：0027-8424
电子版ISSN：1091-6490
出版年度：2016
卷号：113
期号：33
页码：E4877-E4884
DOI：10.1073/pnas.1606075113
语种：English
出版社：The National Academy of Sciences of the United States of America
摘要：Birds and gliders exploit warm, rising atmospheric currents (thermals) to reach heights comparable to low-lying clouds with a reduced expenditure of energy. This strategy of flight (thermal soaring) is frequently used by migratory birds. Soaring provides a remarkable instance of complex decision making in biology and requires a long-term strategy to effectively use the ascending thermals. Furthermore, the problem is technologically relevant to extend the flying range of autonomous gliders. Thermal soaring is commonly observed in the atmospheric convective boundary layer on warm, sunny days. The formation of thermals unavoidably generates strong turbulent fluctuations, which constitute an essential element of soaring. Here, we approach soaring flight as a problem of learning to navigate complex, highly fluctuating turbulent environments. We simulate the atmospheric boundary layer by numerical models of turbulent convective flow and combine them with model-free, experience-based, reinforcement learning algorithms to train the gliders. For the learned policies in the regimes of moderate and strong turbulence levels, the glider adopts an increasingly conservative policy as turbulence levels increase, quantifying the degree of risk affordable in turbulent environments. Reinforcement learning uncovers those sensorimotor cues that permit effective control over soaring in turbulent environments.
Loading...
