Autonomous underwater vehicle control using reinforcement learning policy search methods

Autonomous underwater vehicles (AUV) represent a challenging control problem with complex, noisy, dynamics. Nowadays, not only the continuous scientific advances in underwater robotics but the increasing number of subsea missions and its complexity ask for an automatization of submarine processes. This paper proposes a high-level control system for solving the action selection problem of an autonomous robot. The system is characterized by the use of reinforcement learning direct policy search methods (RLDPS) for learning the internal state/action mapping of some behaviors. We demonstrate its feasibility with simulated experiments using the model of our underwater robot URIS in a target following task

Towards Direct Policy Search Reinforcement Learning for Robot Control

This paper proposes a high-level reinforcement learning (RL) control system for solving the action selection problem of an autonomous robot. Although the dominant approach, when using RL, has been to apply value function based algorithms, the system here detailed is characterized by the use of direct policy search methods. Rather than approximating a value function, these methodologies approximate a policy using an independent function approximator with its own parameters, trying to maximize the future expected reward. The policy based algorithm presented in this paper is used for learning the internal state/action mapping of a behavior. In this preliminary work, we demonstrate its feasibility with simulated experiments using the underwater robot GARBI in a target reaching task

OpenSearch-geo: the simple standard for geographic web search engines

When publishing information on the web, one expects it to reach all the people that could be interested in. This is mainly achieved with general purpose indexing and search engines like Google which is the most used today. In the particular case of geographic information (GI) domain, exposing content to mainstream search engines is a complex task that needs specific actions. In many occasions it is convenient to provide a web site with a specially tailored search engine. Such is the case for on-line dictionaries (wikipedia, wordreference), stores (amazon, ebay), and generally all those holding thematic databases. Due to proliferation of these engines, A9.com proposed a standard interface called OpenSearch, used by modern web browsers to manage custom search engines. Geographic information can also benefit from the use of specific search engines. We can distinguish between two main approaches in GI retrieval information efforts: Classical OGC standardization on one hand (CSW, WFS filters), which are very complex for the mainstream user, and on the other hand the neogeographer’s approach, usually in the form of specific APIs lacking a common query interface and standard geographic formats. A draft ‘geo’ extension for OpenSearch has been proposed. It adds geographic filtering for queries and recommends a set of simple standard response geographic formats, such as KML, Atom and GeoRSS. This proposal enables standardization while keeping simplicity, thus covering a wide range of use cases, in both OGC and the neogeography paradigms. In this article we will analyze the OpenSearch geo extension in detail and its use cases, demonstrating its applicability to both the SDI and the geoweb. Open source implementations will be presented as well