[robotics-worldwide] [jobs] PostDoc Position in Shared Control of Multiple UAVs at INRIA/IRISA-CNRS, Rennes, France
Paolo Robuffo Giordano
paolo.robuffo_giordano at irisa.fr
Mon Oct 10 08:46:21 PDT 2016
The *Lagadic* group at the *INRIA/IRISA-CNRS* center in Rennes, France,
has an open *PostDoc position* on *shared control algorithms for
multiple quadrotor UAVs interacting with the environment*.
Note: I am attending IROS. Please contact me if you'd like to meet.
*CONTEXT AND ROLES*
One of our goals is to enable a human operator to (remotely) control a
group of quadrotors performing some physical interaction task (such as
pushing/pulling/transporting a common object) while, at the same time,
receive force feedback about the forces exchanged between the UAVs and
The level of interfacing between the human operator and the multi-UAV
group could vary from simple "joystick-like" teleoperation (the operator
acts on a force-feedback joystick and sends collective velocity commands
to the robot group/object), to more advanced scenarios in which the
operator could wear an actuated/robotized glove for mapping his
fingers/palm motion onto the robot group and receive a corresponding
force feedback at the fingertips.
The objective of the PostDoc is to work on topics related to this
scenario, such as (i) decentralized multi-UAV coordination/estimation
schemes for physical interaction with the environment, (ii)
force/impedance control schemes for multiple UAVs interacting with the
environment, (iii) mapping between the human hand motion/forces and a
virtual "robotic" hand made of the multiple UAVs (with, thus, quite
different kinematics/dynamics), (iv) conception and implementation of
force feedback devices (e.g., wearable/tactile) for providing the
operator with suitable force feedback cues.
The ideal candidate is expected to have a strong background in some of
- motion/force control and state estimation for single and multiple
- decentralized formation control and/or localization algorithms for
- haptic-enabled teleoperation of single and multiple mobile robots
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 and with the quadrotor UAV platform are a plus.
Scientific curiosity, large autonomy, and ability to work independently
Finally, a good level of written/spoken English is also required in
order to work on technical reports/papers, and to interact with the rest
of the team. Note that knowledge of French is not required at work.
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 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).
The PostDoc will assist in co-supervising one PhD student hired to work
on these topics. Concrete collaborations with other external groups
working in the same area are also already planned.
Salary and health insurance are regulated by the French legislation and
depends upon the successful candidate experience.
The Lagadic group (about 40 people, among which 9 permanent researchers
and 20 PhD students)
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
The facilities available in the group include:
- *three 6-dof manipulator arms*
- *a 6-dof torque-controlled and backdrivable arm (which can be used as
6-dof haptiv device)*
- *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 with complete publication and talk list
- name of (at least) 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
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