University of Hertfordshire

By the same authors

Computation of Empowerment for an Autonomous Underwater Vehicle

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Original languageEnglish
Title of host publicationIFAC Papers Online
Subtitle of host publicationIAV 2016 - 9th IFAC Symposium on Intelligent Autonomous Vehicles
Pages81-87
Number of pages6
Volume49
DOIs
StatePublished - 25 Feb 2016
EventIAV 2016 - 9th IFAC Symposium on Intelligent Autonomous Vehicles - Leipzig, Germany

Conference

ConferenceIAV 2016 - 9th IFAC Symposium on Intelligent Autonomous Vehicles
CountryGermany
CityLeipzig
Period29/06/161/07/16
Internet address

Abstract

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.

Notes

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.

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