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DUGi: Ítem | Recercat - Learning by demonstration applied to underwater intervention

Ítem


Learning by demonstration applied to underwater intervention

Comunicació de congrés presentada a: 17th International Conference of the Catalan Association for Artificial Intelligence, Barcelona, Catalonia, Spain, October 22-24, 2014

Performing subsea intervention tasks is a challenge due to the complexities of the underwater domain. We propose to use a learning by demonstraition algorithm to intuitively teach an intervention autonomous underwater vehicle (IAUV) how to perform a given task. Taking as an input few operator demonstrations, the algorithm generalizes the task into a model and simultaneously controls the vehicle and the manipulator (using 8 degrees of freedom) to reproduce the task. A complete framework has been implemented in order to integrate the LbD algorithm with the different onboard sensors and actuators. A valve turning intervention task is used to validate the full framework through real experiments conducted in a water tank

This research was sponsored by the Spanish government (COMAROB Project, DPI2011-27977-C03-02) and the PANDORA EU FP7-Project under the Grant agreement FP7-ICT-2011-7-288273

IOS Press

Director: Ministerio de Ciencia e Innovación (Espanya)
Autor: Carrera Viñas, Arnau
Palomeras Rovira, Narcís
Hurtós Vilarnau, Natàlia
Kormushev, Petar
Carreras Pérez, Marc
Data: 15 febrer 2020
Resum: Comunicació de congrés presentada a: 17th International Conference of the Catalan Association for Artificial Intelligence, Barcelona, Catalonia, Spain, October 22-24, 2014
Performing subsea intervention tasks is a challenge due to the complexities of the underwater domain. We propose to use a learning by demonstraition algorithm to intuitively teach an intervention autonomous underwater vehicle (IAUV) how to perform a given task. Taking as an input few operator demonstrations, the algorithm generalizes the task into a model and simultaneously controls the vehicle and the manipulator (using 8 degrees of freedom) to reproduce the task. A complete framework has been implemented in order to integrate the LbD algorithm with the different onboard sensors and actuators. A valve turning intervention task is used to validate the full framework through real experiments conducted in a water tank
This research was sponsored by the Spanish government (COMAROB Project, DPI2011-27977-C03-02) and the PANDORA EU FP7-Project under the Grant agreement FP7-ICT-2011-7-288273
Accés al document: http://hdl.handle.net/2072/372398
Llenguatge: eng
Editor: IOS Press
Drets: Tots els drets reservats
Matèria: Robots mòbils -- Sistemes de control
Mobile robots -- Control systems
Intel·ligència artificial
Artificial intelligence
Vehicles submergibles
Submersibles
Aprenentatge automàtic
Machine learning
Robots -- Programació
Robots -- Programming
Títol: Learning by demonstration applied to underwater intervention
Tipus: info:eu-repo/semantics/conferenceObject
Repositori: Recercat

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