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Citation

BibTex format

@inproceedings{Carrera:2014:10.3233/978-1-61499-452-7-95,
author = {Carrera, A and Palomeras, N and Hurtós, N and Kormushev, P and Carreras, M},
doi = {10.3233/978-1-61499-452-7-95},
pages = {95--104},
title = {Learning by demonstration applied to underwater intervention},
url = {http://dx.doi.org/10.3233/978-1-61499-452-7-95},
year = {2014}
}

RIS format (EndNote, RefMan)

TY  - CPAPER
AB - Performing subsea intervention tasks is a challenge due to the complexities of the underwater domain. We propose to use a learning by demonstraition algorithm to intuitively teach an intervention autonomous underwater vehicle (I-AUV) how to perform a given task. Taking as an input few operator demonstrations, the algorithm generalizes the task into a model and simultaneously controls the vehicle and the manipulator (using 8 degrees of freedom) to reproduce the task. A complete framework has been implemented in order to integrate the LbD algorithm with the different onboard sensors and actuators. A valve turning intervention task is used to validate the full framework through real experiments conducted in a water tank.
AU - Carrera,A
AU - Palomeras,N
AU - Hurtós,N
AU - Kormushev,P
AU - Carreras,M
DO - 10.3233/978-1-61499-452-7-95
EP - 104
PY - 2014///
SN - 0922-6389
SP - 95
TI - Learning by demonstration applied to underwater intervention
UR - http://dx.doi.org/10.3233/978-1-61499-452-7-95
UR - http://hdl.handle.net/10044/1/26102
ER -