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Dexterous ROV: effective dexterous ROV operations in presence of communication latencies.

Deliverables

Autonomous navigation primitives

Consists of (1) the software modules wrapped in the ROS middleware containing the main functionalities developed within T4.1 and (2) a compact technical report.

Representative test mockup

Representative test mockup development completed, based on use case defined in WP2.Ready for deployment at sea.

Advanced Underwater Localization & Perception Framework

Software (and supporting documentation) related to the third and last release of the perception framework: will include all expected perception and modeling features, and will in particular provide the consolidated capability for 6 DoF registration, 3D mapping and 3D object modeling (T3.3).

Early Underwater Localization & Perception Framework

Software (and supporting documentation) related to the first release of the perception framework: focusing on online localization through low-cost methods (T3.1), and early outcomes related to 3D data acquisition and fusion (T3.2).

Cognitive engine

Cognitive engine with operational learning and control of manipulation skills, and latencies mitigation handling.

Manipulation arm integrated in the skid and ready to be mounted on the ROV

Manipulation arms (2 arms and grippers) integrated in the skid and ready to be mounted on the ROV - operational for deep water operations.

Autonomous arm primitives

Consists of (1) the software modules wrapped in the ROS middleware containing the main functionalities developed within T4.2 and refinement of modules developed within T4.1, and (2) compact technical report.

Ground truth simulation setup: final release

Will include latest models / updates as made available by partners at that stage of the project.

Movement and feedback primitives software

Software package with the design of the representation for movement and feedback primitives in the immersed virtual environment, and report on results of associated evaluation of the robustness in face of various transmission delays.

Main control center infrastructures

Dedicated space with consoles, computers, screen walls, communication channels provision.

Dexterous grippers developed and tested

Dexterous effector release, tested and operational for deep water operations.

Coordinated ROV+arms strategy, and grasping strategy

Consists of (1) the overall software developed in final version and (2) a compact technical report.

Visual user interface

Main release of the immersive visual interface as detailed in T6.3.

Ground truth simulation setup: initial release

Ground truth simulation setup: initial release (relates to T8.3).

Protocols for offline training and preparation of a mission

Software and report on the offline training protocol (as worked out in T7.1).

Simulation environment main release

Overall simulation framework enabling force feedback and visual feedback through dedicated engines.

Ground truth simulation setup: intermediate release

Ground truth simulation setup: intermediary release (relates to T8.3). Updated partners models, and simulation setup minor fixes/improvements if deemed necessary.

Dexterous arms developed and tested

Dexterous manipulator release, tested and operational for deep water operations.

Haptic arms and hands exoskeletons

Main release of the force feedback interfaces for each operators' arms and hands. Developed, tested, and operational.

Operational Satellite communications system

Development, integration and testing of the satellite communication solution. Required hardware should be installed on COMEX vessel and ready for the main test campaign.

Intermediary Underwater Localization & Perception Framework

Software (and supporting documentation) related to the second release of the perception framework: will focus on a consolidated system for data acquisition and fusion (T3.2) and early outcomes for 6 DoF registration, 3D mapping and 3D object modeling (T3.3).

Report on integration step 1 and 1st evaluation campaign

Reporting on the first integration step and first evaluation campaign.

System requirements elicitation and operational concept

Will report on the elicited system requirements and will provide details on the operational concept and operational architecture of the system

Report on integration step 3 and 3rd evaluation campaign

Reporting on the outcomes of integration step 3 and results of the 3rd (main) campaign at sea, + lessons learnt and recommendations.

Interface Control Document

Will contain formal specification of every subsystems interface – both hardware and software (including communication protocols, data formalisms, etc.).

Report on integration step 2 and 2nd evaluation campaign

Reporting on the 2nd integration step and 2nd evaluation campaign.

Reference DexROV use cases

Will report on the collected user requirements and consolidated reference use cases.

Functional and physical architecture

Will contain the specification of the functional architecture and physical architecture of the whole system, with a first iteration on subsystem detailed specification (to be further addressed in detail in WPs addressing respective subsystems).

System integration and evaluation plan

Detail of the system integration and evaluation plan (may be subject to revisions/adaptations, as the results of the project are released).

Communication and dissemination package for Y3

Dissemination package to be used by the consortium during Y3: : leaflet, posters, project presentation slides, etc

Communication and dissemination package for Y2

Dissemination package to be used by the consortium during Y2: : leaflet, posters, project presentation slides, etc

Project web site and media channels

Project website release, electronic channels enabled, project identity material: logo, color palette, templates for documents and presentation, etc.

Customer website

Customer oriented, dedicated web site to showcase commercially exploitable results

Professional short movie of project achievements

Professional short movie of project achievements.

Communication and dissemination package for Y4

Dissemination package to be used by the consortium during Y4: leaflet, posters, project presentation slides, etc

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Publications

Set-Based Tasks within the Singularity-Robust Multiple Task-Priority Inverse Kinematics Framework: General Formulation, Stability Analysis, and Experimental Results

Author(s): Signe Moe, Gianluca Antonelli, Andrew R. Teel, Kristin Y. Pettersen, Johannes Schrimpf
Published in: Frontiers in Robotics and AI, Issue 3, 2016, ISSN 2296-9144
DOI: 10.3389/frobt.2016.00016

Advanced ROV Autonomy for Efficient Remote Control in the DexROV Project

Author(s): Paolo Augusto Di Lillo, Enrico Simetti, Daniela De Palma, Elisabetta Cataldi, Giovanni Indiveri, Gianluca Antonelli, Giuseppe Casalino
Published in: Marine Technology Society Journal, Issue 50/4, 2016, Page(s) 67-80, ISSN 0025-3324
DOI: 10.4031/MTSJ.50.4.8

A tutorial on task-parameterized movement learning and retrieval

Author(s): Sylvain Calinon
Published in: Intelligent Service Robotics, Issue 9/1, 2016, Page(s) 1-29, ISSN 1861-2776
DOI: 10.1007/s11370-015-0187-9

Learning Physical Collaborative Robot Behaviors From Human Demonstrations

Author(s): Leonel Rozo, Sylvain Calinon, Darwin G. Caldwell, Pablo Jimenez, Carme Torras
Published in: IEEE Transactions on Robotics, Issue 32/3, 2016, Page(s) 513-527, ISSN 1552-3098
DOI: 10.1109/TRO.2016.2540623

Learning Controllers for Reactive and Proactive Behaviors in Human–Robot Collaboration

Author(s): Leonel Rozo, João Silvério, Sylvain Calinon, Darwin G. Caldwell
Published in: Frontiers in Robotics and AI, Issue 3, 2016, ISSN 2296-9144
DOI: 10.3389/frobt.2016.00030

Learning Robot Manipulation Tasks With Task-Parameterized Semitied Hidden Semi-Markov Model

Author(s): Ajay Kumar Tanwani, Sylvain Calinon
Published in: IEEE Robotics and Automation Letters, Issue 1/1, 2016, Page(s) 235-242, ISSN 2377-3766
DOI: 10.1109/LRA.2016.2517825

DexROV: Dexterous Undersea Inspection and Maintenance in Presence of Communication Latencies

Author(s): Jeremi Gancet, Diego Urbina, Pierre Letier, Michel Ilzokvitz, Peter Weiss, Frederic Gauch, Gianluca Antonelli, Giovanni Indiveri, Giuseppe Casalino, Andreas Birk, Max Folkert Pfingsthorn, Sylvain Calinon, Ajay Tanwani, Alessio Turetta, Cees Walen, Lisa Guilpain
Published in: IFAC-PapersOnLine, Issue 48/2, 2015, Page(s) 218-223, ISSN 2405-8963
DOI: 10.1016/j.ifacol.2015.06.036

An Approach for Imitation Learning on Riemannian Manifolds

Author(s): Martijn J. A. Zeestraten, Ioannis Havoutis, Joao Silverio, Sylvain Calinon, Darwin G. Caldwell
Published in: IEEE Robotics and Automation Letters, Issue 2/3, 2017, Page(s) 1240-1247, ISSN 2377-3766
DOI: 10.1109/LRA.2017.2657001

Learning from demonstration for semi-autonomous teleoperation

Author(s): Ioannis Havoutis, Sylvain Calinon
Published in: Autonomous Robots, 2018, ISSN 0929-5593
DOI: 10.1007/s10514-018-9745-2

Dexterous Undersea Interventions with Far Distance Onshore Supervision: the DexROV Project

Author(s): Jeremi Gancet, Peter Weiss, Gianluca Antonelli, Max Folkert Pfingsthorn, Sylvain Calinon, Alessio Turetta, Cees Walen, Diego Urbina, Shashank Govindaraj, Pierre Letier, Xavier Martinez, Joseph Salini, Bertrand Chemisky, Giovanni Indiveri, Giuseppe Casalino, Paolo Di Lillo, Enrico Simetti, Daniel De Palma, Andreas Birk, Tobias Fromm, Christian Mueller, Ajay Tanwani, Ioannis Havoutis, Andrea Caffaz,
Published in: IFAC-PapersOnLine, Issue 49/23, 2016, Page(s) 414-419, ISSN 2405-8963
DOI: 10.1016/j.ifacol.2016.10.439

Programming by Demonstration for Shared Control With an Application in Teleoperation

Author(s): Martijn J. A. Zeestraten, Ioannis Havoutis, Sylvain Calinon
Published in: IEEE Robotics and Automation Letters, Issue 3/3, 2018, Page(s) 1848-1855, ISSN 2377-3766
DOI: 10.1109/LRA.2018.2805105

Manipulation and Transportation With Cooperative Underwater Vehicle Manipulator Systems

Author(s): Enrico Simetti, Giuseppe Casalino
Published in: IEEE Journal of Oceanic Engineering, Issue 42/4, 2017, Page(s) 782-799, ISSN 0364-9059
DOI: 10.1109/JOE.2016.2618182

Task priority control of underwater intervention systems: Theory and applications

Author(s): E. Simetti, G. Casalino, F. Wanderlingh, M. Aicardi
Published in: Ocean Engineering, Issue 164, 2018, Page(s) 40-54, ISSN 0029-8018
DOI: 10.1016/j.oceaneng.2018.06.026

Whole body control of a dual arm underwater vehicle manipulator system

Author(s): E. Simetti, G. Casalino
Published in: Annual Reviews in Control, Issue 40, 2015, Page(s) 191-200, ISSN 1367-5788
DOI: 10.1016/j.arcontrol.2015.09.011

Basic interaction operations for an underwater vehicle-manipulator system

Author(s): Elisabetta Cataldi, Gianluca Antonelli
Published in: 2015 International Conference on Advanced Robotics (ICAR), 2015, Page(s) 524-529
DOI: 10.1109/ICAR.2015.7251506

Virtual decomposition control for an underwater vehicle carrying a n-DoF manipulator

Author(s): Gianluca Antonelli, Elisabetta Cataldi
Published in: OCEANS 2015 - Genova, 2015, Page(s) 1-9
DOI: 10.1109/OCEANS-Genova.2015.7271645

DexROV: Enabling effective dexterous ROV operations in presence of communication latency

Author(s): Jeremi Gancet, Diego Urbina, Pierre Letier, Michel Ilzkovitz, Peter Weiss, Fred Gauch, Bertrand Chemisky, Gianluca Antonelli, Giuseppe Casalino, Giovanni Indiveri, Andreas Birk, Max F. Pfingsthorn, Sylvain Calinon, Alessio Turetta, Cees Walen, Lisa Guilpain
Published in: OCEANS 2015 - Genova, 2015, Page(s) 1-6
DOI: 10.1109/OCEANS-Genova.2015.7271691

Stability analysis for set-based control within the singularity-robust multiple task-priority inverse kinematics framework

Author(s): Signe Moe, Andrew R. Teel, Gianluca Antonelli, Kristin Y. Pettersen
Published in: 2015 54th IEEE Conference on Decision and Control (CDC), 2015, Page(s) 171-178
DOI: 10.1109/CDC.2015.7402104

Learning optimal controllers in human-robot cooperative transportation tasks with position and force constraints

Author(s): Leonel Rozo, Danilo Bruno, Sylvain Calinon, Darwin G. Caldwell
Published in: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, Page(s) 1024-1030
DOI: 10.1109/IROS.2015.7353496

Learning bimanual end-effector poses from demonstrations using task-parameterized dynamical systems

Author(s): Joao Silverio, Leonel Rozo, Sylvain Calinon, Darwin G. Caldwell
Published in: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, Page(s) 464-470
DOI: 10.1109/IROS.2015.7353413

Incorporating set-based control within the singularity-robust multiple task-priority inverse kinematics

Author(s): Gianluca Antonelli, Signe Moe, Kristin Y. Pettersen
Published in: 2015 23rd Mediterranean Conference on Control and Automation (MED), 2015, Page(s) 1092-1097
DOI: 10.1109/MED.2015.7158902

Experimental results for set-based control within the singularity-robust multiple task-priority inverse kinematics framework

Author(s): Signe Moe, Gianluca Antonelli, Kristin Y. Pettersen, Johannes Schrimpf
Published in: 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2015, Page(s) 1233-1239
DOI: 10.1109/ROBIO.2015.7418940

Full 3D navigation correction using low frequency visual tracking with a stereo camera

Author(s): Max Pfingsthorn, Ravi Rathnam, Tomasz Luczynski, Andreas Birk
Published in: OCEANS 2016 - Shanghai, 2016, Page(s) 1-6
DOI: 10.1109/OCEANSAP.2016.7485520

Visual speed adaptation for improved sensor coverage in a multi-vehicle survey mission

Author(s): Arturo Gomez Chavez, Max Pfingsthorn, Ravi Rathnam, Andreas Birk
Published in: OCEANS 2016 - Shanghai, 2016, Page(s) 1-6
DOI: 10.1109/OCEANSAP.2016.7485710

Underwater vehicle manipulator systems: Control methodologies for inspection and maintenance tasks

Author(s): Enrico Simetti, Stefano Galeano, Giuseppe Casalino
Published in: OCEANS 2016 - Shanghai, 2016, Page(s) 1-7
DOI: 10.1109/OCEANSAP.2016.7485690

DexROV project: Control framework for underwater interaction tasks

Author(s): Enrico Simetti, Francesco Wanderlingh, Giuseppe Casalino, Giovanni Indiveri, Gianluca Antonelli
Published in: OCEANS 2017 - Aberdeen, 2017, Page(s) 1-6
DOI: 10.1109/OCEANSE.2017.8084888

Cooperative Object Transportation by Two Underwater Vehicle-Manipulator Systems

Author(s): Elisabetta Cataldi, Stefano Chiaverini, Gianluca Antonelli
Published in: 2018 26th Mediterranean Conference on Control and Automation (MED), 2018, Page(s) 161-166
DOI: 10.1109/med.2018.8442760

Assistive Control Framework for Remotely Operated Vehicles

Author(s): Daniele Di Vito, Paolo Di Lillo, Filippo Arrichiello, Gianluca Antonelli
Published in: 2018 26th Mediterranean Conference on Control and Automation (MED), 2018, Page(s) 364-369
DOI: 10.1109/med.2018.8442460

Satellite-Based Tele-Operation of an Underwater Vehicle-Manipulator System. Preliminary Experimental Results

Author(s): Paolo Di Lillo, Daniele Di Vito, Enrico Simetti, Giuseppe Casalino, Gianluca Antonelli
Published in: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 7504-7509
DOI: 10.1109/icra.2018.8462976

Robot Learning with Task-Parameterized Generative Models

Author(s): Sylvain Calinon
Published in: 2018, Page(s) 111-126
DOI: 10.1007/978-3-319-60916-4_7