dc.contributor
Ministerio de Ciencia e Innovación (Espanya)
dc.contributor.author
Carrera Viñas, Arnau
dc.contributor.author
Palomeras Rovira, Narcís
dc.contributor.author
Hurtós Vilarnau, Natàlia
dc.contributor.author
Kormushev, Petar
dc.contributor.author
Carreras Pérez, Marc
dc.date.accessioned
2024-06-13T09:50:49Z
dc.date.available
2024-06-13T09:50:49Z
dc.identifier
http://hdl.handle.net/10256/17356
dc.identifier.uri
http://hdl.handle.net/10256/17356
dc.description.abstract
Comunicació de congrés presentada a: 17th International Conference of the Catalan Association for Artificial Intelligence, Barcelona, Catalonia, Spain, October 22-24, 2014
dc.description.abstract
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
dc.description.abstract
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
dc.format
application/pdf
dc.relation
info:eu-repo/semantics/altIdentifier/doi/10.3233/978-1-61499-452-7-95
dc.relation
info:eu-repo/semantics/altIdentifier/isbn/978-1-61499-451-0
dc.relation
info:eu-repo/grantAgreement/MICINN//DPI2011-27977-C03-02/ES/COMAROB: ROBOTICA COOPERATIVA MARINA PARA EL MAPEO ACUSTICO Y LA INTERVENCION/
dc.relation
info:eu-repo/grantAgreement/EC/FP7/288273/EU/Persistent Autonomy through Learning, Adaptation, Observation and Re-planning/PANDORA
dc.rights
Tots els drets reservats
dc.rights
info:eu-repo/semantics/openAccess
dc.source
© 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
dc.source
Contribucions a Congressos (D-ATC)
dc.subject
Robots mòbils -- Sistemes de control
dc.subject
Mobile robots -- Control systems
dc.subject
Intel·ligència artificial
dc.subject
Artificial intelligence
dc.subject
Vehicles submergibles
dc.subject
Aprenentatge automàtic
dc.subject
Machine learning
dc.subject
Robots -- Programació
dc.subject
Robots -- Programming
dc.title
Learning by demonstration applied to underwater intervention
dc.type
info:eu-repo/semantics/conferenceObject
dc.type
info:eu-repo/semantics/acceptedVersion
