Cognitive system for autonomous underwater intervention
dc.contributor.author
dc.date.accessioned
2016-06-08T11:21:35Z
dc.date.available
2016-06-08T11:21:35Z
dc.date.issued
2015
dc.identifier.issn
0167-8655
dc.identifier.uri
dc.description.abstract
The implementation of autonomous intervention tasks with underwater vehicles is a non-trivial issue due to the challenging and dynamic conditions of the underwater medium (e.g., water current perturbations, water visibility). Likewise, it requires a significant programming effort each time that the vehicle must perform a different manipulation operation. In this paper we propose, instead, to use a cognitive system that learns the intervention task from an expert operator through an intuitive learning by demonstration (LbD) algorithm. Taking as an input few operator demonstrations, the algorithm generalizes the task knowledge into a model and is able to control the vehicle and the manipulator simultaneously to reproduce the task, thus conferring a more adaptive behavior in front of the environment changes and allowing to easily transfer the knowledge of new tasks. A cognitive architecture has been implemented in order to integrate the LbD algorithm with the onboard sensors and actuators and to allow its interplay with the vehicle perception, control and navigation modules. To validate the full framework we present real experiments in a water tank using an AUV equipped with a four DoF manipulator. A human operator teaches the system to perform a valve turning intervention and we analyze the results of multiple task reproductions, including cases under the effect of water current perturbations, showing the success of the system in autonomously reproducing the task
dc.description.sponsorship
This research was sponsored by the Spanish Government (CO-MAROBProject, DPI2011-27977-C03-02) and the PANDORAEUFP7-Project under the grant agreementFP7-ICT-2011-7288273
dc.format.mimetype
application/pdf
dc.language.iso
eng
dc.publisher
Elsevier
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.isformatof
Reproducció digital del document publicat a: http://dx.doi.org/10.1016/j.patrec.2015.06.010
dc.relation.ispartof
© Pattern Recognition Letters, 2015, vol. 67, núm. 1, p. 91-99
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Articles publicats (D-ATC)
dc.rights
Tots els drets reservats
dc.subject
dc.title
Cognitive system for autonomous underwater intervention
dc.type
info:eu-repo/semantics/article
dc.rights.accessRights
info:eu-repo/semantics/embargoedAccess
dc.embargo.terms
Cap
dc.date.embargoEndDate
info:eu-repo/date/embargoEnd/2026-01-01
dc.relation.projectID
info:eu-repo/grantAgreement/EC/FP7/288273/EU/Persistent Autonomy through Learning, Adaptation, Observation and Re-planning/PANDORA
dc.type.version
info:eu-repo/semantics/publishedVersion
dc.identifier.doi
dc.identifier.idgrec
023907
dc.contributor.funder
dc.relation.FundingProgramme
dc.relation.ProjectAcronym