Before revision:  We propose a simple model of a three-link fish swimming in a potential flow environment and we use model-free reinforcement learning to arrive at optimal shape changes for two swimming tasks: swimming in a desired direction and swimming towards a known target.
After revision:  To address the problem of underwater motion planning, we propose a simple model of a three-link fish swimming in a potential flow environment and we use model-free reinforcement learning to arrive at optimal shape changes for two swimming tasks: swimming in a desired direction and swimming towards a known target.