我们正在基于多智能体强化学习开发异构机器人集群平台。目前，我们基于实验室现有的仿生机器人构建异构机器人集群平台，智能体机器人单元包含多关节仿生机器鱼、四旋翼飞行器、水面母船、陆地小车及四足机器人。使用上述平台基于强化学习研究不同种类个体的集群行为。

　　We are developing a heterogeneous robot clustering platform based on multi-agent reinforcement learning. At present, we build a heterogeneous robot clustering platform based on the existing bionic robots developing by our laboratory. The agent unit includes multi-joint bionic robotic fish, quadrotors, robot ships, land vehicles, and quadruped robots. Use the above platform to study cluster behaviors of different kinds of agents based on reinforcement learning.

　　附图：搭建异构机器人集群平台所用的部分机器人展示，多机器人仿真展示及基于强化学习的双智能体合作展示。

　　Figures: Some of the robots used for building the heterogeneous robot cluster platform, a multi-robot simulation, and a dual-agent cooperation based on reinforcement learning.