Publications
128 results found
Kormushev P, Demiris Y, Caldwell DG, 2015, Kinematic-free Position Control of a 2-DOF Planar Robot Arm
Carrera A, Palomeras N, Hurtós N, et al., 2015, Cognitive System for Autonomous Underwater Intervention, Pattern Recognition Letters, ISSN: 0167-8655
Carrera A, Palomeras N, Hurtos N, et al., 2015, Learning multiple strategies to perform a valve turning with underwater currents using an I-AUV
Ahmadzadeh SR, Paikan A, Mastrogiovanni F, et al., 2015, Learning Symbolic Representations of Actions from Human Demonstrations
Jamali N, Kormushev P, Carrera A, et al., 2015, Underwater Robot-Object Contact Perception using Machine Learning on Force/Torque Sensor Feedback
Kormushev P, Demiris Y, Caldwell DG, 2015, Encoderless Position Control of a Two-Link Robot Manipulator
Jamisola RS, Kormushev P, Caldwell DG, et al., 2015, Modular Relative Jacobian for Dual-Arms and the Wrench Transformation Matrix
Lane DM, Maurelli F, Kormushev P, et al., 2015, PANDORA - Persistent Autonomy through Learning, Adaptation, Observation and Replanning
Takano W, Asfour T, Kormushev P, 2015, Special Issue on Humanoid Robotics, Advanced Robotics, Vol: 29
Bimbo J, Kormushev P, Althoefer K, et al., 2015, Global Estimation of an Object’s Pose Using Tactile Sensing, Advanced Robotics, Vol: 29
Ahmadzadeh SR, Kormushev P, Caldwell DG, 2014, Multi-Objective Reinforcement Learning for AUV Thruster Failure Recovery
Ahmadzadeh SR, Jamisola RS, Kormushev P, et al., 2014, Learning Reactive Robot Behavior for Autonomous Valve Turning
Dallali H, Kormushev P, Tsagarakis N, et al., 2014, Can Active Impedance Protect Robots from Landing Impact?
Jamisola RS, Kormushev P, Bicchi A, et al., 2014, Haptic Exploration of Unknown Surfaces with Discontinuities
Ahmadzadeh SR, Carrera A, Leonetti M, et al., 2014, Online Discovery of AUV Control Policies to Overcome Thruster Failures
Jamali N, Kormushev P, Caldwell DG, 2014, Robot-Object Contact Perception using Symbolic Temporal Pattern Learning
Carrera A, Karras G, Bechlioulis C, et al., 2014, Improving a Learning by Demonstration framework for Intervention AUVs by means of an UVMS controller
Jamali N, Kormushev P, Ahmadzadeh SR, et al., 2014, Covariance Analysis as a Measure of Policy Robustness in Reinforcement Learning
Carrera A, Palomeras N, Ribas D, et al., 2014, An Intervention-AUV learns how to perform an underwater valve turning
Carrera A, Palomeras N, Hurtos N, et al., 2014, Learning by demonstration applied to underwater intervention
Ahmadzadeh SR, Kormushev P, Caldwell DG, 2013, Autonomous robotic valve turning: A hierarchical learning approach, 2013 IEEE International Conference on Robotics and Automation (ICRA), Publisher: IEEE, Pages: 4629-4634, ISSN: 1050-4729
Autonomous valve turning is an extremely challenging task for an Autonomous Underwater Vehicle (AUV). To resolve this challenge, this paper proposes a set of different computational techniques integrated in a three-layer hierarchical scheme. Each layer realizes specific subtasks to improve the persistent autonomy of the system. In the first layer, the robot acquires the motor skills of approaching and grasping the valve by kinesthetic teaching. A Reactive Fuzzy Decision Maker (RFDM) is devised in the second layer which reacts to the relative movement between the valve and the AUV, and alters the robot's movement accordingly. Apprenticeship learning method, implemented in the third layer, performs tuning of the RFDM based on expert knowledge. Although the long-term goal is to perform the valve turning task on a real AUV, as a first step the proposed approach is tested in a laboratory environment. © 2013 IEEE.
Karras GC, Bechlioulis CP, Leonetti M, et al., 2013, On-Line Identification of Autonomous Underwater Vehicles through Global Derivative-Free Optimization
Kormushev P, Caldwell DG, 2013, Improving the Energy Efficiency of Autonomous Underwater Vehicles by Learning to Model Disturbances
Ahmadzadeh SR, Kormushev P, Caldwell DG, 2013, Visuospatial Skill Learning for Object Reconfiguration Tasks
Ahmadzadeh SR, Kormushev P, Caldwell DG, 2013, Interactive Robot Learning of Visuospatial Skills
Ahmadzadeh SR, Leonetti M, Kormushev P, 2013, Online Direct Policy Search for Thruster Failure Recovery in Autonomous Underwater Vehicles
Kormushev P, Caldwell DG, 2013, Towards Improved AUV Control Through Learning of Periodic Signals
Kormushev P, Caldwell DG, 2013, Comparative Evaluation of Reinforcement Learning with Scalar Rewards and Linear Regression with Multidimensional Feedback
Leonetti M, Ahmadzadeh SR, Kormushev P, 2013, On-line Learning to Recover from Thruster Failures on Autonomous Underwater Vehicles
Jamali N, Kormushev P, Caldwell DG, 2013, Contact State Estimation using Machine Learning
This data is extracted from the Web of Science and reproduced under a licence from Thomson Reuters. You may not copy or re-distribute this data in whole or in part without the written consent of the Science business of Thomson Reuters.