Learning to cooperate for low-Reynolds-number swimming: a model problem for gait coordination

Biological microswimmers can coordinate their motions to exploit their fluid environment-and each other-to achieve global advantages in their locomotory performance. These cooperative locomotion require delicate adjustments of both individual swimming gaits and spatial arrangements of the swimmers. Here we probe the emergence of such cooperative behaviors among artificial microswimmers endowed with artificial intelligence. We present the first use of a deep reinforcement learning approach to empower the cooperative locomotion of a pair of reconfigurable microswimmers. The AI-advised cooperative policy comprises two stages: an approach stage where the swimmers get in close proximity to fully exploit hydrodynamic interactions, followed a synchronization stage where the swimmers synchronize their locomotory gaits to maximize their overall net propulsion. The synchronized motions allow the swimmer pair to move together coherently with an enhanced locomotion performance unattainable by a single swimmer alone. Our work constitutes a first step toward uncovering intriguing cooperative behaviors of smart artificial microswimmers, demonstrating the vast potential of reinforcement learning towards intelligent autonomous manipulations of multiple microswimmers for their future biomedical and environmental applications.