[robotics-worldwide] [jobs] PhD positions at Polytechnique Montreal and McGill University
Jerome LE NY
jerome.le-ny at polymtl.ca
Wed Jul 25 06:08:42 PDT 2018
Two fully funded PhD positions are available at Polytechnique Montreal and McGill University (Montreal, Canada) for a joint research project related to the navigation and control of multi-robot systems. Details about the project can be found below. Students with an interest in robotics (in particular multi-robot systems), navigation, guidance, and control, as well as an interest in both theory and experiments, are encouraged to contact Profs. Le Ny, Saussie, and/or Forbes at
jerome.le-ny at polymtl.ca <mailto:jerome.le-ny at polymtl.ca>
d.saussie at polymtl.ca <mailto:d.saussie at polymtl.ca>
james.richard.forbes at mcgill.ca <mailto:james.richard.forbes at mcgill.ca>
Interested applicants should include their CV, transcripts, and statement of interest.
Project synopsis: The operation of teams of robotic vehicles, such as autonomous ground vehicles and drones, in a cooperative manner hinges on robust and reliable navigation, guidance, and control strategies. In order to navigate, robots must estimate their position, orientation, etc. from sensor data. Ultra-wideband (UWB) transceivers can be used for time-of-flight-based (TOF-based) ranging, realizing centimetre-level accuracy over short ranges (e.g., 100 meters). Using both fixed-to-ground and vehicle-mounted UWB transceivers will enable robots to estimate their position and orientation relative to ground transceivers and neighbouring vehicles. Because ranging hinges on a line of sight (LOS) between UWB transceivers, guidance strategies that maintain LOS are also required. Moreover, estimation and control strategies that are cooperative in nature and able to robustly maintain a particular formation dictated by the guidance algorithm are necessary.
Two PhD students are sought to conduct research on UWB-aided cooperative navigation, guidance, and control strategies. One PhD student's research will focus on cooperative guidance and control. In particular, guidance and control strategies that robustly maintain an optimal configuration, as well as strategies to avoid collisions between robots, will be considered. The other PhD student's research will focus on UWB-based navigation. Specifically, fusing UWB transceiver measurements with other sensor measurements (e.g., rate gyro, accelerometer, magnetometers, camera) to realize accurate relative position, orientation, etc. estimates will be considered. Both research projects will involve theoretical aspects and experimental validation.
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