Imperial College London

DrPetarKormushev

Faculty of EngineeringDyson School of Design Engineering

Lecturer
 
 
 
//

Contact

 

+44 (0)20 7594 9235p.kormushev Website

 
 
//

Location

 

25 Exhibition Road, 3rd floor, Dyson BuildingDyson BuildingSouth Kensington Campus

//

Summary

 

Publications

Publication Type
Year
to

101 results found

Maurelli F, Lane D, Kormushev P, Caldwell D, Carreras M, Salvi J, Fox M, Long D, Kyriakopoulos K, Karras Get al., 2016, The PANDORA project: a success story in AUV autonomy, OCEANS Conference 2016, Publisher: IEEE, ISSN: 0197-7385

This paper presents some of the results of the EU-funded project PANDORA - Persistent Autonomy Through Learning Adaptation Observation and Re-planning. The project was three and a half years long and involved several organisations across Europe. The application domain is underwater inspection and intervention, a topic particularly interesting for the oil and gas sector, whose representatives constituted the Industrial Advisory Board. Field trials were performed at The Underwater Centre, in Loch Linnhe, Scotland, and in harbour conditions close to Girona, Spain.

Conference paper

Kryczka P, Kormushev P, Tsagarakis N, Caldwell DGet al., 2015, Online Regeneration of Bipedal Walking Gait Optimizing Footstep Placement and Timing

Conference paper

Kormushev P, Demiris Y, Caldwell DG, 2015, Kinematic-free Position Control of a 2-DOF Planar Robot Arm

Conference paper

Carrera A, Palomeras N, Hurtós N, Kormushev P, Carreras Met al., 2015, Cognitive System for Autonomous Underwater Intervention, Pattern Recognition Letters, ISSN: 0167-8655

Journal article

Kormushev P, Demiris Y, Caldwell DG, 2015, Encoderless Position Control of a Two-Link Robot Manipulator

Conference paper

Jamali N, Kormushev P, Carrera A, Carreras M, Caldwell DGet al., 2015, Underwater Robot-Object Contact Perception using Machine Learning on Force/Torque Sensor Feedback

Conference paper

Carrera A, Palomeras N, Hurtos N, Kormushev P, Carreras Met al., 2015, Learning multiple strategies to perform a valve turning with underwater currents using an I-AUV

Conference paper

Ahmadzadeh SR, Paikan A, Mastrogiovanni F, Natale L, Kormushev P, Caldwell DGet al., 2015, Learning Symbolic Representations of Actions from Human Demonstrations

Conference paper

Jamisola RS, Kormushev P, Caldwell DG, Ibikunle Fet al., 2015, Modular Relative Jacobian for Dual-Arms and the Wrench Transformation Matrix

Conference paper

Lane DM, Maurelli F, Kormushev P, Carreras M, Fox M, Kyriakopoulos Ket al., 2015, PANDORA - Persistent Autonomy through Learning, Adaptation, Observation and Replanning

Conference paper

Bimbo J, Kormushev P, Althoefer K, Liu Het al., 2015, Global Estimation of an Object’s Pose Using Tactile Sensing, Advanced Robotics, Vol: 29

Journal article

Takano W, Asfour T, Kormushev P, 2015, Special Issue on Humanoid Robotics, Advanced Robotics, Vol: 29

Journal article

Ahmadzadeh SR, Kormushev P, Caldwell DG, 2014, Multi-Objective Reinforcement Learning for AUV Thruster Failure Recovery

Conference paper

Dallali H, Kormushev P, Tsagarakis N, Caldwell DGet al., 2014, Can Active Impedance Protect Robots from Landing Impact?

Conference paper

Ahmadzadeh SR, Jamisola RS, Kormushev P, Caldwell DGet al., 2014, Learning Reactive Robot Behavior for Autonomous Valve Turning

Conference paper

Jamisola RS, Kormushev P, Bicchi A, Caldwell DGet al., 2014, Haptic Exploration of Unknown Surfaces with Discontinuities

Conference paper

Ahmadzadeh SR, Carrera A, Leonetti M, Kormushev P, Caldwell DGet al., 2014, Online Discovery of AUV Control Policies to Overcome Thruster Failures

Conference paper

Jamali N, Kormushev P, Caldwell DG, 2014, Robot-Object Contact Perception using Symbolic Temporal Pattern Learning

Conference paper

Carrera A, Karras G, Bechlioulis C, Palomeras N, Hurtos N, Kyriakopoulos K, Kormushev P, Carreras Met al., 2014, Improving a Learning by Demonstration framework for Intervention AUVs by means of an UVMS controller

Conference paper

Carrera A, Palomeras N, Ribas D, Kormushev P, Carreras Met al., 2014, An Intervention-AUV learns how to perform an underwater valve turning

Conference paper

Jamali N, Kormushev P, Ahmadzadeh SR, Caldwell DGet al., 2014, Covariance Analysis as a Measure of Policy Robustness in Reinforcement Learning

Conference paper

Carrera A, Palomeras N, Hurtos N, Kormushev P, Carreras Met al., 2014, Learning by demonstration applied to underwater intervention

Conference paper

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.

Conference paper

Karras GC, Bechlioulis CP, Leonetti M, Palomeras N, Kormushev P, Kyriakopoulos KJ, Caldwell DGet al., 2013, On-Line Identification of Autonomous Underwater Vehicles through Global Derivative-Free Optimization

Conference paper

Ahmadzadeh SR, Kormushev P, Caldwell DG, 2013, Interactive Robot Learning of Visuospatial Skills

Conference paper

Ahmadzadeh SR, Kormushev P, Caldwell DG, 2013, Visuospatial Skill Learning for Object Reconfiguration Tasks

Conference paper

Kormushev P, Caldwell DG, 2013, Improving the Energy Efficiency of Autonomous Underwater Vehicles by Learning to Model Disturbances

Conference paper

Ahmadzadeh SR, Leonetti M, Kormushev P, 2013, Online Direct Policy Search for Thruster Failure Recovery in Autonomous Underwater Vehicles

Conference paper

Leonetti M, Ahmadzadeh SR, Kormushev P, 2013, On-line Learning to Recover from Thruster Failures on Autonomous Underwater Vehicles

Conference paper

Jamali N, Kormushev P, Caldwell DG, 2013, Contact State Estimation using Machine Learning

Conference paper

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.

Request URL: http://wlsprd.imperial.ac.uk:80/respub/WEB-INF/jsp/search-html.jsp Request URI: /respub/WEB-INF/jsp/search-html.jsp Query String: id=00873100&limit=30&person=true&page=2&respub-action=search.html