Conference item
Supervisory teleoperation with online learning and optimal control
- Abstract:
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We present a general approach for online learning and optimal control of manipulation tasks in a supervisory teleoperation context, targeted to underwater remotely operated vehicles (ROVs). We use an online Bayesian nonparametric learning algorithm to build models of manipulation motions as task-parametrized hidden semi-Markov models (TP-HSMM) that capture the spatiotemporal characteristics of demonstrated motions in a probabilistic representation. Motions are then executed autonomously usin...
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- Publication status:
- Published
- Peer review status:
- Peer reviewed
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- Files:
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(Accepted manuscript, pdf, 3.4MB)
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- Publisher copy:
- 10.1109/ICRA.2017.7989183
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Authors
Funding
Bibliographic Details
- Publisher:
- Institute of Electrical and Electronics Engineers Publisher's website
- Journal:
- IEEE International Conference on Robotics and Automation (ICRA 2017). Journal website
- Host title:
- IEEE International Conference on Robotics and Automation (ICRA 2017)
- Publication date:
- 2017-07-01
- Acceptance date:
- 2017-01-15
- DOI:
- ISSN:
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1050-4729
- Source identifiers:
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726064
- ISBN:
- 9781509046331
Item Description
- Pubs id:
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pubs:726064
- UUID:
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uuid:efcbaa5a-03a4-4691-9a73-e5d491df0bbf
- Local pid:
- pubs:726064
- Deposit date:
- 2018-02-02
Terms of use
- Copyright holder:
- Institute of Electrical and Electronics Engineers
- Copyright date:
- 2017
- Notes:
- © 2017 IEEE.
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