Computation of Empowerment for an Autonomous Underwater Vehicle
Catenacci Volpi, Nicola, De Palma, Daniela, Polani, Daniel and Indiveri, Giovanni
(2016)
Computation of Empowerment for an Autonomous Underwater Vehicle.
In: IAV 2016 - 9th IFAC Symposium on Intelligent Autonomous Vehicles, 2016-06-29 - 2016-07-01.
The paper addresses the computation of the information-theoretic empowerment measure for a simplified vertical plane dynamic model of an eFolaga autonomous underwater vehicle. Empowerment can be used to measure how much influence a vehicle has on its behavior, and it identifies desirable states of the vehicle, hence it can act as an intrinsic cost function to use during a mission. Online empowerment computation can be exploited within complex autonomous robotics missions. The proposed approach is being developed in the framework of a H2020 underwater robotics research project (Widely scalable Mobile Underwater Sonar Technology) to improve the autonomy of autonomous underwater vehicles for acoustic seismic applications.
| Item Type | Conference or Workshop Item (Other) |
|---|---|
| Identification Number | 10.1016/j.ifacol.2016.07.713 |
| Additional information | Nicola Catenacci Volpi, Daniela De Palma, Daniel Polani, Giovanni Indiveri, 'Computation of Empowerment for an Autonomous Underwater Vehicle', in IFAC Papers Online, Vol 49-15, February 2016, pp. 81-87, Proceedings of the 9th IFAC Symposium on Intelligent Autonomous Vehicles, 29 June - 1 July 2016, Leipzig, Germany. Available online at doi: 10.1016/j.ifacol.2016.07.713. © 2016 IFAC (International Federation of Automatic Control). Hosting by Elsevier. |
| Keywords | marine robotics, autonomous underwater vehicle, information theory, empowerment, mobility |
| Date Deposited | 15 May 2025 16:36 |
| Last Modified | 25 Feb 2026 00:09 |