[robotics-worldwide] [jobs] PostDoc position in cooperative Sensor-based Control and Localization for Multi-Robot Systems
Paolo Robuffo Giordano
paolo.robuffo_giordano at irisa.fr
Tue Apr 14 05:48:14 PDT 2015
The Lagadic group at Inria/Irisa Rennes, France
has an *open PostDoc position* in the field of *cooperative sensor-based
control and localization for multi-robot systems*.
*********** DESCRIPTION OF THE ACTIVITIES ***********
Multi-robot applications are attracting a steadily growing interest in
the robotics community based on the idea that proper coordination of
many simple robots can lead to the fulfillment of arbitrarily complex
tasks in a robust (to single robot failures) and highly flexible way.
Teams of multiple robots can take advantage of their number to perform,
for example, complex manipulation and assembly tasks, or to obtain rich
spatial awareness by suitably distributing themselves in the
environment. Autonomous search and rescue, firefighting, exploration and
intervention in dangerous or inaccessible areas are just some of the
most promising multi-robot applications.
Despite the various theoretical and technical advancements in the field,
however, the number of challenges that have to be overcome for actually
deploying a team of fully autonomous flying robots in an unstructured
environment is still large. For instance, nowadays most multi-robot
applications heavily exploit *highly structured/centralized facilities*
(e.g., indoor visual tracking systems, heavy use of GPS-enabled
environments, presence of ground stations in charge of controlling the
whole mission and collecting all the data, and so on). These facilities
clearly help during the developing and testing phases, and can also be
suitable for specific scenarios (like tasks in well-defined indoor
factory floors). However, it is also clear that much more flexible
solutions should be devised for actually operating in *possibly
unstructured, unknown, “un-prepared” environments* without the
possibility of resorting to “external aids” besides the team own skills.
The goal of this PostDoc is to advance the state-of-the-art by
contributing to the conception, development and actual testing of novel
algorithms for allowing a group of multiple robots to autonomously
navigate in unknown, unstructured and cluttered environments by solely
resorting to their *"local skills"*, that is, *local onboard sensing*
(mainly vision) and *local communication*. Quadrotor UAVs equipped with
onboard cameras, IMUs and local communication capabilities will be the
target robotic platform for all algorithms. A rough list of possible
topics envisaged during the Postdoc is as follows:
- decentralized formation control from visual feedback
(*bearing-formation control*) for a group of quadrotor UAVs
- decentralized localization from visual feedback
(*bearing-localization*) for a group of quadrotor UAVs
- exploitation of graph theoretical tools (e.g., *connectivity* and
*bearing-rigidity*) for cooperatively estimating global quantities of
interest (e.g., common inertial reference frame, relative pose of the
agents in the group)
- robustness against sensor limitations (e.g., limited camera fov,
- robustness against delays, noise, packet losses and link failures
- anonymity and correspondence-less cooperative control and estimation
The initial PostDoc duration is *12 months* but with the possibility of
extending it in case of mutual interest.
*********** CANDIDATES' EXPECTED PROFILE ***********
The ideal candidate is expected to have a strong background in the field
of robotics, estimation and control with a focus on multi-robot
formation control and cooperative localization and, in general,
familiarity with the relevant multi-robot and multi-agent literature.
Previous experience in visual-based control/estimation is a plus.
Previous experience with quadrotor UAVs is a plus but not strictly required.
The candidate is expected to contribute mostly on the algorithmic side
(conception, analysis and design of cooperative formation
control/localization schemes from onboard measurements). However, an
implementation on the quadrotor platforms available in the group is also
welcome. Co-supervision of the PhD students involved in the project is
The candidate should be knowledgeable about C/C++, ROS and
matlab/simulink. Scientific curiosity, large autonomy and ability to
work independently are also expected. A PhD degree in computer science,
engineering, applied mathematics (or related fields) is required.
*********** SALARY ***********
Full-time position paid according to French salary schemes.
*********** ENVIRONMENT ***********
The Lagadic group, headed by Francois Chaumette,
is internationally recognized for its scientific activity as well as for
technology transfer experiences in the field of visual tracking, visual
servoing, computer vision and sensor-based control for robotics
applications. The facilities available in the group include three 6-dof
manipulator arms, a pioneer indoor mobile robot, a state-of-the-art
human-size humanoid robot (Romeo), a fleet of quadrotor UAVs, and an
indoor large testing arena instrumented with Vicon.
The candidates will be under the supervision of *Dr. Paolo Robuffo Giordano*
and will work in close collaboration with other members of the Lagadic
group involved in the project.
The Lagadic group is part of the Inria/Irisa lab that spreads its
activities in 30 research teams working in computer science, signal
processing, and control. It involves about 650 people, including 120
professors and assistant professors, 100 full-time researchers, 80
administrative staff, and 250 PhD students.
*********** HOW TO APPLY ***********
Interested candidates must send to Dr. Paolo Robuffo Giordano (prg [at]
irisa.fr) the following material:
- motivation letter
- detailed CV
- name of at least two referees
- any relevant information for proving a good match with the PostDoc
description and expected profile of the candidates
The positions will remain open until a satisfactory candidate will be found.
Dr. Paolo Robuffo Giordano
Centre National de la Recherche Scientifique (CNRS)
Lagadic Team, Irisa and Inria Bretagne Atlantique
Campus Universitaire de Beaulieu
35042 Rennes cedex, France
Tel: +33 (0)2 99842545
Fax: +33 (0)2 99847171
Email: prg at irisa.fr
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