Computation of Empowerment for an Autonomous Underwater Vehicle^*

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• 作者：Nicola Catenacci Volpi¹ ; ^{nicola.catenaccivolpi@unisalento.it" class="auth_mail" title="E-mail the corresponding author} ; Daniela De Palma² ; ^{daniela.depalma@unisalento.it" class="auth_mail" title="E-mail the corresponding author} ; Daniel Polani¹ ; ^{daniel.polani@unisalento.it" class="auth_mail" title="E-mail the corresponding author} ; Giovanni Indiveri² ; ^{giovanni.indiveri@unisalento.it" class="auth_mail" title="E-mail the corresponding author}
• 关键词：Marine Robotics ; Autonomous Underwater Vehicle ; Information Theory ; Empowerment ; Mobility
• 刊名：IFAC-PapersOnLine
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：49
• 期：15
• 页码：81-87
• 全文大小：567 K

文摘

The paper addresses the computation of the information-theoretic empowerment measure for a simplified vertical plane dynamic model of an eFolaga autonomous underwater vehicle. Empowerment can be used to measure how much influence a vehicle has on its behavior, and it identifies desirable states of the vehicle, hence it can act as an intrinsic cost function to use during a mission. Online empowerment computation can be exploited within complex autonomous robotics missions. The proposed approach is being developed in the framework of a H2020 underwater robotics research project (Widely scalable Mobile Underwater Sonar Technology) to improve the autonomy of autonomous underwater vehicles for acoustic seismic applications.