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Lookup NU author(s): Sam Appleby, Kirsten Crane, Dr Giacomo BergamiORCiD, Dr Stephen McGough
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This paper offers a feasibility study on using simulated environments for training autonomous underwater vehicles (AUVs). With the goal of monitoring marine megafauna, we propose a Unity-hosted simulation of a realistic open ocean environment, with a focus on simulating Blue Robotics’ BlueROV2. The result is SWiMM DEEPeR 1 , coupling the former simulation with a reinforcement learning (RL) pipeline. Animated marine mammal models emulate the target objects of the real-world deployment scenario, offering a solution in a new application space (conservation) as well as a new problem space (visual active tracking). We provide experiments with respect to each stage of the proposed pipeline: i) image similarity experiments provide evidence for decisions around image rendering and data transfer, ii) autoencoder training demonstrates the feasibility of mapping raw images to low-dimensional feature representations, iii) agent training demonstrates successful self-learnt vehicle control.
Author(s): Appleby S, Crane K, Bergami G, McGough AS
Publication type: Conference Proceedings (inc. Abstract)
Publication status: Published
Conference Name: IEEE Conference on Games
Year of Conference: 2023
Pages: 1-8
Online publication date: 04/12/2023
Acceptance date: 09/05/2023
ISSN: 9798350322774
Publisher: IEEE
URL: https://doi.org/10.1109/CoG57401.2023.10333168
DOI: 10.1109/CoG57401.2023.10333168