标题：Computation of Empowerment for an Autonomous Underwater Vehicle * * This work was partially supported by EC Horizon 2020 programme under the project WiMUST (Grant agreement no: 645141, Strategic objective: H2020 - ICT-23-2014 - Robotics).
摘要：AbstractThe 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.
