2026-04-18T07:52:03Zhttps://recercat.cat/oai/request

oai:recercat.cat:10256/173562024-06-13T09:50:49Zcom_2072_453036com_2072_2054col_2072_453037

Learning by demonstration applied to underwater intervention Carrera Viñas, Arnau Palomeras Rovira, Narcís Hurtós Vilarnau, Natàlia Kormushev, Petar Carreras Pérez, Marc Ministerio de Ciencia e Innovación (Espanya) 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 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 2014 info:eu-repo/semantics/conferenceObject info:eu-repo/semantics/acceptedVersion http://hdl.handle.net/10256/17356 http://hdl.handle.net/10256/17356 eng info:eu-repo/semantics/altIdentifier/doi/10.3233/978-1-61499-452-7-95 info:eu-repo/semantics/altIdentifier/isbn/978-1-61499-451-0 info:eu-repo/grantAgreement/MICINN//DPI2011-27977-C03-02/ES/COMAROB: ROBOTICA COOPERATIVA MARINA PARA EL MAPEO ACUSTICO Y LA INTERVENCION/ info:eu-repo/grantAgreement/EC/FP7/288273/EU/Persistent Autonomy through Learning, Adaptation, Observation and Re-planning/PANDORA Tots els drets reservats info:eu-repo/semantics/openAccess application/pdf IOS Press © Museros Cabedo, Ll., Pujol, O., i Agell, N. (eds). Artificial Intelligence Research and Development: Proceedings of the 17th International Conference of the Catalan Association for Artificial Intelligence, Barcelona, Catalonia, Spain, October 22-24, 2014. (Frontiers in Artificial Intelligence and Applications, vol. 269), p. 95-104 Contribucions a Congressos (D-ATC)