[robotics-worldwide] [jobs] PostDoc Position in Active Perception at INRIA/IRISA, Rennes, France

Paolo Robuffo Giordano paolo.robuffo_giordano at irisa.fr
Fri Oct 7 02:02:10 PDT 2016




The Lagadic group at Inria/Irisa Rennes, France

https://urldefense.proofpoint.com/v2/url?u=http-3A__www.irisa.fr_lagadic_welcome-2Deng.html&d=DQICaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=nOqxtVwHU3MnvykhzWEFg4epKDgoBHC6_7BSUAb3iDw&s=UfuCpoGiY6GXM1kHVl7JJ0vlpol6HzXGbLbXuKcg0M4&e= 

has an open PostDoc position for developing active perception schemes 
for mobile robots, and for combining them with the concurrent execution 
of tasks of interest (e.g., navigation, exploration, coverage, and so on).



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Note: I will be attending IROS. Please contact me if you would like to 
meet me there.

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*CONTEXT AND ROLES*

One of the main problems in mobile robotics is the need of estimating 
some states/parameters of interest during motion exploiting the sensors 
available onboard. Typical examples are localization for ground robots, 
pose/attitude estimation for flying robots, online calibration of sensor 
parameters, or more complex tasks such as SLAM.

However, these estimation problems are often nonlinear and, therefore, 
the observability properties of the state/parameters to be estimated 
strongly depend on the particular trajectory followed by the robot. Some 
trajectories may be unobservable, while other ones may result in high 
information gain.

In recent years, an increasing interest has arisen around the problem of 
devising active perception schemes in which the robot motion is 
optimized offline/online in order to maximize some observability 
criterion related to the states/parameters to be estimated.

In this context, the PostDoc is then expected to address the conception 
and implementation of active perception algorithms for quadrotor UAVs 
with onboard cameras. The main focus will be about the *online* 
generation of optimal trajectories with maximum information gain for 
addressing, e.g., localization and scene reconstruction.
Concurrent execution of other tasks of interest may also be considered, 
thus creating the need of trading off between task execution and 
information gathering during the robot motion.
Finally, extensions to a multi-UAV case will also be part of the 
activities, in which the multi-UAV group needs to cooperatively estimate 
some global property of interest in an optimized (perception-aware) way.





*SKILLS*

The ideal candidate is expected to have a strong background in control 
and/or state estimation theory and, possibly, experience with state 
estimation for mobile robotics (ground/flying), and with trajectory 
optimization techniques.

A Ph.D. degree in robotics, computer science, applied mathematics (or 
related fields) is required.

The candidate must be a proficient user of C/C++ and ROS. Familiarity 
with matlab/simulink, with the quadrotor UAV platform, and with 
camera-based navigation algorithms are also a plus. Scientific 
curiosity, large autonomy and ability to work independently are also 
expected.

Finally, a good level of written/spoken English is also required in 
order to interact with the rest of the team.




*OFFER*

The position is funded for about 1.5 years starting at the earliest. The 
candidate will be under the supervision of Dr. Paolo Robuffo Giordano 
and of Dr. Paolo Salaris

https://urldefense.proofpoint.com/v2/url?u=http-3A__www.irisa.fr_lagadic_team_Paolo.Robuffo-5FGiordano.html&d=DQICaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=nOqxtVwHU3MnvykhzWEFg4epKDgoBHC6_7BSUAb3iDw&s=x_8te3NcKKTSXbS-GAb_kwN-ZzwriLv7bu7lxdqfBL8&e= 

https://urldefense.proofpoint.com/v2/url?u=https-3A__www.irisa.fr_lagadic_team_Paolo.Salaris.html&d=DQICaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=nOqxtVwHU3MnvykhzWEFg4epKDgoBHC6_7BSUAb3iDw&s=Mrl87IpcmE_twPnM30yF6IJ4rpW1UfrJqMgu0q-8PJo&e= 

and will work in close collaboration with the other members of the 
Lagadic group involved in activities with quadrotors (examples: 
formation control using onboard vision, aggressive visual-based control, 
cooperative indoor localization/mapping).
Possible collaborations with other external groups will also be strongly 
encouraged.

Salary and health insurance are regulated by the French legislation and 
depends upon the successful candidate experience.




*ENVIRONMENT*

The Lagadic group (about 40 people, among which 9 permanent researchers 
and 20 PhD students)

https://urldefense.proofpoint.com/v2/url?u=http-3A__www.irisa.fr_lagadic_welcome-2Deng.html&d=DQICaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=nOqxtVwHU3MnvykhzWEFg4epKDgoBHC6_7BSUAb3iDw&s=UfuCpoGiY6GXM1kHVl7JJ0vlpol6HzXGbLbXuKcg0M4&e= 

is internationally recognized for its scientific activity as well as for 
experience in technology transfer 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 6-dof torque-controlled and backdrivable arm
- a pioneer indoor mobile robot
- two state-of-the-art human-size humanoid robots (Romeo and Pepper)
- a fleet of quadrotor UAVs
- an indoor large testing arena instrumented with Vicon


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 two referees
- any relevant information for proving the experience of the candidate 
and its good fit with the planned activities






-- 
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: https://urldefense.proofpoint.com/v2/url?u=http-3A__www.irisa.fr_lagadic_team_Paolo.Robuffo-5FGiordano.html&d=DQICaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=nOqxtVwHU3MnvykhzWEFg4epKDgoBHC6_7BSUAb3iDw&s=x_8te3NcKKTSXbS-GAb_kwN-ZzwriLv7bu7lxdqfBL8&e= 
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