Publisher DOI: | 10.1109/ICRA.2018.8461137 | Title: | Reinforcement learning of depth stabilization with a micro diving agent | Authors: | Brinkmann, Gerrit Bessa, Wallace Moreira Dücker, Daniel-André Kreuzer, Edwin Solowjow, Eugen |
Issue Date: | 10-Sep-2018 | Source: | Proceedings - IEEE International Conference on Robotics and Automation : 6197-6203 (2018-09-10) | Journal or Series Name: | Proceedings - IEEE International Conference on Robotics and Automation | Abstract (english): | Reinforcement learning (RL) allows robots to solve control tasks through interaction with their environment. In this paper we study a model-based value-function RL approach, which is suitable for computationally limited robots and light embedded systems. We develop a diving agent, which uses the RL algorithm for underwater depth stabilization. Simulations and experiments with the micro diving agent demonstrate its ability to learn the depth stabilization task. |
URI: | http://hdl.handle.net/11420/2691 | ISBN: | 978-153863081-5 | ISSN: | 1050-4729 | Institute: | Mechanik und Meerestechnik M-13 | Document Type: | Chapter/Article (Proceedings) | Project: | Dezentrale kooperative Exploration von nichtstatinären räumlich und zeitlich verteilten Feldern mit autonomen Unterwasserfahrzeugen |
Appears in Collections: | Publications without fulltext |
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