2026-04-17T22:56:08Zhttps://recercat.cat/oai/requestoai:recercat.cat:10256/173562024-06-13T09:50:49Zcom_2072_453036com_2072_2054col_2072_453037
RECERCAT
author
Carrera Viñas, Arnau
author
Palomeras Rovira, Narcís
author
Hurtós Vilarnau, Natàlia
author
Kormushev, Petar
author
Carreras Pérez, Marc
2024-06-13T09:50:49Z
2024-06-13T09:50:49Z
2014
http://hdl.handle.net/10256/17356
Comunicació de congrés presentada a: 17th International Conference of the Catalan Association for Artificial Intelligence, Barcelona, Catalonia, Spain, October 22-24, 2014Performing 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 tankThis 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
Tots els drets reservats info:eu-repo/semantics/openAccess
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
Learning by demonstration applied to underwater intervention
info:eu-repo/semantics/conferenceObject info:eu-repo/semantics/acceptedVersion