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Autonomous Adaptive Underwater Exploration using Online Topic Modeling

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Experimental Robotics

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 88))

Abstract

Exploration of underwater environments, such as coral reefs and ship wrecks, is a difficult and potentially dangerous tasks for humans, which naturally makes the use of an autonomous robotic system very appealing. This paper presents such an autonomous system, and shows its use in a series of experiments to collect image data in an underwater marine environment.We presents novel contributions on three fronts. First, we present an online topic-modeling based technique to describe what is being observed using a low dimensional semantic descriptor.

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Author information

Authors and Affiliations

  1. Centre for Intelligent Machines, McGill University, 318-3480 University Street, Montreal, QC, Canada, H3A 0E9

    Yogesh Girdhar & Gregory Dudek

  2. Département d’informatique et génie logiciel, Université Laval, 1065, Avenue de la Médecine, Quebec, QC, Canada, G1V 0A6

    Philippe Giguère

Authors
  1. Yogesh Girdhar
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  2. Philippe Giguère
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  3. Gregory Dudek
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Corresponding author

Correspondence to Yogesh Girdhar .

Editor information

Editors and Affiliations

  1. (RAMS) Institute for Systems Research, Maryland Robotics Center, University of Maryland, Room 0160, Bldg 088, Glenn L. Martin Hall, College Park, 20742, Maryland, USA

    Jaydev P. Desai

  2. , Centre for Intelligent Machines, McGill University, Room 419, 3480 University Street, Montreal, H3A 2A7, Québec, Canada

    Gregory Dudek

  3. , Department of Computer Science, Stanford University, Stanford, 94305-9010, California, USA

    Oussama Khatib

  4. , School of Engineering & Applied Science, University of Pennsylvania, 107 Towne Building, 220 South 33rd Street, Philadelphia, 19104-6391, Pennsylvania, USA

    Vijay Kumar

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© 2013 Springer International Publishing Switzerland

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Girdhar, Y., Giguère, P., Dudek, G. (2013). Autonomous Adaptive Underwater Exploration using Online Topic Modeling. In: Desai, J., Dudek, G., Khatib, O., Kumar, V. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 88. Springer, Heidelberg. https://doi.org/10.1007/978-3-319-00065-7_53

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  • DOI: https://doi.org/10.1007/978-3-319-00065-7_53

  • Publisher Name: Springer, Heidelberg

  • Print ISBN: 978-3-319-00064-0

  • Online ISBN: 978-3-319-00065-7

  • eBook Packages: EngineeringEngineering (R0)

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