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Plastic grabber: Un...
Plastic grabber: Underwater autonomous vehicle simulation for plastic objects retrieval using genetic programming
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- Kasparaviciute, Gabriele, 1990 (author)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Nielsen, Stig Anton, 1981 (author)
- Köpenhamns universitet,University of Copenhagen
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Boruah, Dhruv (author)
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- Nordin, Peter, 1965 (author)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Dancu, Alexandru, 1985 (author)
- Massachusetts Institute of Technology (MIT)
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(creator_code:org_t)
- 2019-01-03
- 2019
- English.
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In: Lecture Notes in Business Information Processing. - Cham : Springer International Publishing. - 1865-1356 .- 1865-1348. ; 339, s. 527-533
- Related links:
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https://research.cha...
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https://doi.org/10.1...
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Abstract
Subject headings
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- We propose a path planning solution using genetic programming for an autonomous underwater vehicle. Developed in ROS Simulator that is able to roam in an environment, identify a plastic object, such as bottles, grab it and retrieve it to the home base. This involves the use of a multi-objective fitness function as well as reinforcement learning, both required for the genetic programming to assess the model’s behaviour. The fitness function includes not only the objective of grabbing the object but also the efficient use of stored energy. Sensors used by the robot include a depth image camera, claw and range sensors that are all simulated in ROS.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datorseende och robotik (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Vision and Robotics (hsv//eng)
Keyword
- Genetic programming
- Underwater autonomous vehicle
- Plastic collector
Publication and Content Type
- kon (subject category)
- ref (subject category)
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