Computation of Empowerment for an Autonomous Underwater Vehicle

Nicola Catenacci Volpi; Daniela De Palma; Daniel Polani; Giovanni  Indiveri

doi:10.1016/j.ifacol.2016.07.713

Computation of Empowerment for an Autonomous Underwater Vehicle

Nicola Catenacci Volpi, Daniela De Palma, Daniel Polani, Giovanni Indiveri

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

105 Downloads (Pure)

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.

Original language	English
Title of host publication	IFAC Papers Online
Subtitle of host publication	IAV 2016 - 9th IFAC Symposium on Intelligent Autonomous Vehicles
Pages	81-87
Number of pages	6
Volume	49
DOIs	https://doi.org/10.1016/j.ifacol.2016.07.713
Publication status	Published - 25 Feb 2016
Event	IAV 2016 - 9th IFAC Symposium on Intelligent Autonomous Vehicles - Leipzig, Germany Duration: 29 Jun 2016 → 1 Jul 2016 http://iav2016.inf.h-brs.de/

Conference

Conference	IAV 2016 - 9th IFAC Symposium on Intelligent Autonomous Vehicles
Country/Territory	Germany
City	Leipzig
Period	29/06/16 → 1/07/16
Internet address	http://iav2016.inf.h-brs.de/

Keywords

Marine Robotics
Autonomous Underwater Vehicle
Information Theory
Empowerment
Mobility

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10.1016/j.ifacol.2016.07.713

Cite this

@inproceedings{afed4ccaafa64385938e9e7ddf2c4f0b,

title = "Computation of Empowerment for an Autonomous Underwater Vehicle",

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.",

keywords = "Marine Robotics, Autonomous Underwater Vehicle, Information Theory, Empowerment, Mobility",

author = "\{Catenacci Volpi\}, Nicola and \{De Palma\}, Daniela and Daniel Polani and Giovanni Indiveri",

note = "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. {\textcopyright} 2016 IFAC (International Federation of Automatic Control). Hosting by Elsevier. ; IAV 2016 - 9th IFAC Symposium on Intelligent Autonomous Vehicles ; Conference date: 29-06-2016 Through 01-07-2016",

year = "2016",

month = feb,

day = "25",

doi = "10.1016/j.ifacol.2016.07.713",

language = "English",

volume = "49",

pages = "81--87",

booktitle = "IFAC Papers Online",

url = "http://iav2016.inf.h-brs.de/",

}

Catenacci Volpi, N, De Palma, D, Polani, D & Indiveri, G 2016, Computation of Empowerment for an Autonomous Underwater Vehicle. in IFAC Papers Online : IAV 2016 - 9th IFAC Symposium on Intelligent Autonomous Vehicles. vol. 49, pp. 81-87, IAV 2016 - 9th IFAC Symposium on Intelligent Autonomous Vehicles, Leipzig, Germany, 29/06/16. https://doi.org/10.1016/j.ifacol.2016.07.713

TY - GEN

T1 - Computation of Empowerment for an Autonomous Underwater Vehicle

AU - Catenacci Volpi, Nicola

AU - De Palma, Daniela

AU - Polani, Daniel

AU - Indiveri, Giovanni

N1 - 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.

PY - 2016/2/25

Y1 - 2016/2/25

N2 - 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.

AB - 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.

KW - Marine Robotics

KW - Autonomous Underwater Vehicle

KW - Information Theory

KW - Empowerment

KW - Mobility

U2 - 10.1016/j.ifacol.2016.07.713

DO - 10.1016/j.ifacol.2016.07.713

M3 - Conference contribution

VL - 49

SP - 81

EP - 87

BT - IFAC Papers Online

T2 - IAV 2016 - 9th IFAC Symposium on Intelligent Autonomous Vehicles

Y2 - 29 June 2016 through 1 July 2016

ER -

Computation of Empowerment for an Autonomous Underwater Vehicle

Abstract

Conference

Keywords

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