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This paper presents an online technique which employs incremental support vector regression to learn the damping term of an underwater vehicle motion model, subject to dynamical changes in the vehicle's body. To learn the damping term, we use data collected from the robot's on-board navigation sensors and actuator encoders. We introduce a new sample-efficient methodology which accounts for adding...
Wiihìn the 3 year project DAEDALUS the battery powered underwater vehicle AUVx was developed at DFKI. This autonomous underwater vehicle (AUV) is a novel, miniaturized exploration and research vehicle (see Fig. 1). The AUVx can be operated both autonomous or remotely as a hybrid ROV with a near field optical communication modem or a copper wire cable. What makes this paper unique is that it describes...
This work addresses a data driven approach which employs a machine learning technique known as Support Vector Regression (SVR), to identify the coupled dynamical model of an autonomous underwater vehicle. To train the regressor, we use a dataset collected from the robot's on-board navigation sensors and actuators. To achieve a better fit to the experimental data, a variant of a radial-basis-function...
In this work we investigate the identification of a motion model for an autonomous underwater vehicle by applying different machine learning (ML) regression methods. By using the data collected from the robot's on-board navigation sensors, we train the regression models to learn the damping term which is regarded as one of the most uncertain components of the motion model. Four regression techniques...
In 2014, funded by the European Commission through the Marie Curie Programme, ten leading European research institutes and companies in underwater robotics formed the ROBOCADEMY Initial Training Network (ITN). The objective of the network is to educate young researchers from Europe and abroad in the development and application of underwater robots. The ROBOCADEMY training programme comprises of scientific...
This paper presents a method for generating three-dimensional paths for a vehicle with a bounded maximum curvature in both yaw and pitch rotations. We build upon the two-dimensional time-optimal path generation for constant speed vehicles with bounded steering that produces the socalled Dubins curves. We formulate a similar problem in three-dimensional space and solve it with the additional constraints...
In this paper, we present a mechanical design of a conceptual hybrid autonomous underwater vehicle (H-AUV) which combines the features of both a propelled underwater vehicle and those of an underwater glider. We develop its dynamic model and perform several simulations to showcase its locomotive capabilities. The main contribution of the paper is in the proposed motion planning technique to solve...
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