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.
Computation of Empowerment for an Autonomous Underwater Vehicle
Indiveri, Giovanni
2016-01-01
Abstract
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.
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