[robotics-worldwide] [jobs] Two PhD positions in Visual-Based Navigation and Control for UAVs at INRIA/IRISA-CNRS, Rennes, France

Paolo Robuffo Giordano paolo.robuffo_giordano at irisa.fr
Tue Mar 3 03:32:38 PST 2015



The Lagadic group at INRIA/IRISA-CNRS Rennes, France

http://www.irisa.fr/lagadic/welcome-eng.html

has *two* open PhD positions in the field of visual-based navigation and 
control for UAVs.



**************      PhD TOPICS      **************


1) Visual predictive control for UAVs


-- DESCRIPTION --

Visual servoing is a well-known class of techniques meant to control the 
pose of a robot from visual input by considering an error function 
directly defined in the image (sensor) space. These techniques are 
particularly appealing since they do not require, in general, a full 
state reconstruction, they typically grant good robustness against 
miscalibrations and model inaccuracies, and are computationally cheap 
w.r.t. a full state estimation step.


The goal of this PhD scholarship is to investigate how to exploit the 
visual servoing framework for effectively controlling the pose of a 
quadrotor UAV equipped with an onboard camera IMU and embedded 
processing power. The intended applications span precise positioning 
over ground (moving) objects, trajectory following and formation 
control. Because of the quadrotor underactuation and inherent sensor 
limitations (mainly limited camera fov), a special emphasis will be 
placed on the use of model predictive control techniques (or similar 
ideas) for explicitly dealing with this kind of constraints during flight.
A full, sound (and onboard) implementation of all the developed schemes 
on the quadrotor platforms available in the group will also be part of 
the PhD goals.


-- CANDIDATE'S EXPECTED PROFILE --

The ideal candidate is expected to have a strong background in the field 
of robotics, estimation and control. Familiarity with quadrotor flight 
control, visual-based control, predictive/optimal control, optimization, 
image processing are a plus.
The candidate must be a proficient user of C/C++ and ROS. Familiarity 
with matlab/simulink is a plus. Scientific curiosity, autonomy and 
ability to work independently are also expected.

A M.Sc. degree in computer science, engineering, applied mathematics (or 
related fields) is required. UE or Swiss nationality is also required 
for applying to this position.



-- SALARY --

Full-time 3-year position paid according to French salary schemes.





2) Robust visual state estimation and sensing for UAVs


-- DESCRIPTION --

The goal of this PhD position is to develop robust (and real-time) 
computer vision algorithms for recovering the "state" of a quadrotor UAV 
from onboard sensing (mainly 2D/3D cameras and IMU) and processing 
power. Here, the term "state" serves as a placeholder for, e.g., 
relative position w.r.t. other UAVs in the scene, identity of 
neighboring UAVs, relative position w.r.t. surrounding obstacles, 
velocity over ground, and so on. In summary, any relevant information 
needed for controlling the quadrotor motion over ground, for avoiding 
obstacles, and for keeping desired relative displacements with nearby 
quadrotors (for the sake of formation control).
The developed algorithms should possess a good degree of robustness 
w.r.t. real-world conditions, for instance by avoiding, as much as 
possible, the use of special markers or other artificial aids for 
segmenting the environment or neighboring UAVs. While the main 
application will be indoor flight, extension to outdoor scenarios will 
also be considered.


-- CANDIDATE'S EXPECTED PROFILE --

The ideal candidate is expected to have a strong background in the field 
of computer vision (for robotics applications), image processing and 
pattern matching/classification. Familiarity with the use of vision in 
the context of quadrotor navigation/flight control (e.g., visual 
odometry, visual SLAM) is a plus.
The candidate must be a proficient user of C/C++, ROS, and of the 
relevant computer vision libraries (ViSP, OpenCV, PCL). Scientific 
curiosity, autonomy and ability to work independently are also expected.

A M.Sc. degree in computer science, engineering (or related fields) is 
required. No restriction on the candidate's nationality is present for 
this position.



-- SALARY --

Full-time 3-year position paid according to French salary schemes.





**************      ENVIRONMENT      **************


The Lagadic group, headed by Francois Chaumette,

http://www.irisa.fr/lagadic/welcome-eng.html

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.


Both candidates will be under the supervision of *Dr. Paolo Robuffo 
Giordano*

http://www.irisa.fr/lagadic/team/Paolo.Robuffo_Giordano.html

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 PhD 
description and expected profile of the candidates

Both 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
Website: http://www.irisa.fr/lagadic/team/Paolo.Robuffo_Giordano.html
YouTube: http://www.youtube.com/user/MPIRobotics


More information about the robotics-worldwide mailing list