Community Research and Development Information Service - CORDIS

Persistent Autonomy through Learning, Adaptation, Observation and Re-planning

From 2012-01-01 to 2015-05-31, closed project | PANDORA Website

Project details

Total cost:

EUR 3 682 906

EU contribution:

EUR 2 800 000

Coordinated in:

United Kingdom

Call for proposal:

FP7-ICT-2011-7See other projects for this call

Funding scheme:

CP - Collaborative project (generic)

Description

Humankind needs a new class of autonomous underwater vehicle (AUV) to address the new challenges that deep sea exploration and mechanization create. But autonomous robots are not very good at being autonomous. Operating in real environments, they easily get stuck, often ask for help, and generally succeed only when attempting simple tasks in well-known situations. <a href="http://persistentautonomy.com/" target="_blank">PANDORA</a> will develop and evaluate new computational methods to make human-built robots persistently autonomous, significantly reducing the frequency of assistance requests. The key to this is an ability to recognise failure and respond to it, at all levels of abstraction and time constant. A PANDORA AUV constantly replans, continuously questions its assumptions, and adjusts its skills to fit its immediate environment.

Objective

Autonomous robots are not very good at being autonomous. Operating in real environments, they easily get stuck, often ask for help, and generally succeed only when attempting simple tasks in well-known situations. PANDORA is a three year project that will develop and evaluate new computational methods to make human-built robots Persistently Autonomous, significantly reducing the frequency of assistance requests. The key to this is an ability to recognise failure and respond to it, at all levels of abstraction and time constant.Three themes for this will be explored, working synergistically together A. DESCRIBING THE WORLD will develop new probabilistic semantic representations of the environment and the state of task execution, driven by feature based localisation and world model update from sensors, and by focus of attention mechanisms. This will detect failure of task execution and its context. B. DIRECTING AND ADAPTING INTENTIONS will investigate planning and plan adaption under resource constraint and uncertainty in response to goals and the changing world above. This will enable the robot to respond strategically to action failure(s) C. ACTING ROBUSTLY will investigate the interface between re-enforcement/imitation learning methods and robust control to make action execution indifferent to unwanted motion of target or self. Following the Deep Water Horizon oilfield disaster in the Gulf of Mexico in 2010, contractors are developing hover capable autonomous underwater vehicles (AUVs) for subsea inspection and intervention. PANDORA's key goal will be to make such vehicles more Persistently Autonomous. Under the guidance of major industrial players, validation tasks of Inspection, cleaning and valve turning will be trialled with partners' AUVs in Scotland and Spain. To focus theoretical developments and partner interactions, an agile approach to system integration will be employed, opportunistically capturing new developments from the three themes above into more capable prototypes.

Coordinator

HERIOT-WATT UNIVERSITY
United Kingdom

EU contribution: EUR 947 444


Riccarton
EH14 4AS EDINBURGH
United Kingdom
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Activity type: Higher or Secondary Education Establishments
Administrative contact: Eva Olszewska-Day
Tel.: +44 131 4513073
Fax: +44 131 4513193
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Participants

UNIVERSITAT DE GIRONA
Spain

EU contribution: EUR 534 760


PLACA SANT DOMENEC 3
17004 GIRONA
Spain
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Activity type: Higher or Secondary Education Establishments
Administrative contact: Miguel Fernandez
Tel.: +34 972419691
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NATIONAL TECHNICAL UNIVERSITY OF ATHENS - NTUA
Greece

EU contribution: EUR 420 800


HEROON POLYTECHNIOU 9 ZOGRAPHOU CAMPUS
15780 ATHINA
Greece
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Activity type: Higher or Secondary Education Establishments
Administrative contact: Georgia Mertzelou
Tel.: +302107721348
Fax: +302107724181
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FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA
Italy

EU contribution: EUR 485 100


VIA MOREGO 30
16163 GENOVA
Italy
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Activity type: Research Organisations
Administrative contact: SIMONA VENTRIGLIA
Tel.: +39 10 71781285
Fax: +39 10 71781232
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KING'S COLLEGE LONDON
United Kingdom

EU contribution: EUR 411 896


Strand
WC2R 2LS LONDON
United Kingdom
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Activity type: Higher or Secondary Education Establishments
Administrative contact: Paul Labbett
Tel.: +44 207 848 8184
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