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Citation

BibTex format

@inproceedings{Carrera:2014,
author = {Carrera, A and Palomeras, N and Hurtos, N and Kormushev, P and Carreras, M},
title = {Learning by demonstration applied to underwater intervention},
url = {http://kormushev.com/papers/Carrera_CCIA-2014.pdf},
year = {2014}
}

RIS format (EndNote, RefMan)

TY  - CPAPER
AB - Performing subsea intervention tasks is a challenge due to the complexitiesof the underwater domain. We propose to use a learning by demonstraitionalgorithm to intuitively teach an intervention autonomous underwater vehicle (IAUV)how to perform a given task. Taking as an input few operator demonstrations,the algorithm generalizes the task into a model and simultaneously controlsthe 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 algorithmwith the different onboard sensors and actuators. A valve turning interventiontask is used to validate the full framework through real experiments conducted in awater tank.
AU - Carrera,A
AU - Palomeras,N
AU - Hurtos,N
AU - Kormushev,P
AU - Carreras,M
PY - 2014///
TI - Learning by demonstration applied to underwater intervention
UR - http://kormushev.com/papers/Carrera_CCIA-2014.pdf
UR - http://hdl.handle.net/10044/1/26102
ER -