dc.contributor.author | Fjerdingen, Sigurd Aksnes | |
dc.contributor.author | Kyrkjebø, Erik | |
dc.contributor.author | Transeth, Aksel Andreas | |
dc.date.accessioned | 2018-03-09T07:57:40Z | |
dc.date.available | 2018-03-09T07:57:40Z | |
dc.date.created | 2012-03-30T11:40:48Z | |
dc.date.issued | 2010 | |
dc.identifier.isbn | 9783800732739 | |
dc.identifier.uri | http://hdl.handle.net/11250/2489643 | |
dc.description.abstract | This paper analyzes the application of several reinforcement learning techniques for continuous state and action spaces to pipeline following for an autonomous underwater vehicle (AUV). Continuous space SARSA is compared to the actor-critic CACLA algorithm, and is also extended into a supervised reinforcement learning architecture. A novel exploration method using the skew-normal stochastic distribution is proposed, and evidence towards advantages in the case of tabula rasa exploration is presented. Results are validated on a realistic simulator of the AUV, and confirm the applicability of reinforcement learning to optimize pipeline following behavior. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | VDE Verlag GmbH | nb_NO |
dc.relation.ispartof | Proceedings for the joint conference of ISR 2010, 41st International Symposium on Robotics, ROBOTIK 2010, 6th German Conference on Robotics | |
dc.title | AUV Pipeline Following using Reinforcement Learning | nb_NO |
dc.type | Chapter | nb_NO |
dc.description.version | acceptedVersion | nb_NO |
dc.source.pagenumber | 310-317 | nb_NO |
dc.identifier.cristin | 918391 | |
dc.description.localcode | © 2011 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | nb_NO |
cristin.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |