Machine Learning for Underwater Robotic Manipulation

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Develop effective and robust control for underwater robotic manipulation with an underwater vehicle and a robotic arm attached to it. The scope of the project includes simultaneous control of the integrated robotic system, multi-modality sensorial servo-ing of the vehicle and manipulator, such as with visual and force/torque servo control, integration of environmental visual and sonar data for manipulation, and developing intelligent human-robot interaction system for semi-autonomous robotic manipulation under remote human commands. The focus of the project will be the application of machine learning techniques to address the problems within the scope.