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.
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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.

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