PostDoc Position in
Shared Control for Multi-Robot Systems
Team: Rainbow IRISA/Inria Rennes
Scientific contact: email@example.com
Project site: team.inria.fr/rainbow
How to apply: Interested candidates are requested to apply via this form. The position will remain open until a satisfactory candidate is found
The goal of the PostDoc is to significantly advance the state-of-the-art in multi-robot autonomy and human-multi-robot interaction for allowing a human operator to intuitively control the coordinated motion of multiple robot systems (e.g., a group of multiple UAVs or multiple manipulator arms), with a strong emphasis on the division of roles between multi-robot autonomy (in controlling their motion/configuration and online decision-making) and human intervention/guidance for providing high-level commands to the group while being most aware of the group status via VR and haptics technology. Possible sub-topics to be addressed during the PostDoc are:
- use of reactive trajectory planning (e.g., MPC-like algorithms) for allowing the robots to reason about the future (e.g., optimality w.r.t. constraints and mission requirements)
- use of learning techniques (e.g., learning from demonstration) for encoding demonstrations of “expert operators” into cost functions to be optimized by the robot group
- design of flexible forward mappings between the few user controlled dofs and the many robot group dofs, with the possibility of adjusting online the mapping as a function of the situation/task
- use of grounded (e.g., force-feedback joysticks) and wearable (e.g., cutaneous) devices for providing haptic feedback to the user informing about the group status
- use of state-of-the-art VR technologies for providing an immersive experience to the user
- principled users’ studies for validating the benefits of the proposed shared control schemes
The PostDoc research will naturally fit into our several activities over the last years about the general problems of shared control of robots and control/estimation for multi-robot systems. A selection of relevant works can be found at the end of the page (References), and here some videos showing previous results on related topics: video1, video2, video3, video4, video5, video6, video7.
The facilities in the team include a vicon-instrumented indoor room for experiments with multiple quadrotors, four manipulator arms (two 6-dof industrial manipulators, and two 7-dof torque-controlled manipulators), and state-of-the-art 6-dof haptic devices. Exploiation of the Immersia VR facility (on campus) for running human/multi-robot experiments will also be possible (and encouraged).
Finally, two research engineers (technical staff) will assist the PostDoc for all what concerns hardware/software development and maintenance of the robotic platforms.
- Ph.D. in robotics or related field
- Clear publication record in the main robotics conferences/journals (e.g., ICRA, IROS, RSS, RAL, TRO, IJRR, JFR, AURO)
- Strong experience in C/C++, ROS. Experience with Matlab/Simulink and a robotic simulation environment (e.g. V-REP) will also be appreciated
- Strong interest in scientific robotics research: both the more theoretical and algorithmic side of robotics (nonlinear control, estimation, trajectory planning), and the experimental one (design and implementation of experiments with multiple robots and human-in-the-loop)
- Familiarity with the area of multi-robot (control, estimation, trajectory planning) and/or shared control (human-robot mappings, visual/haptic feedback, teleoperation)
- Scientific curiosity, large autonomy and ability to work independently
- Availability to co-supervise M.Sc. and Ph.D. students on the Postdoc topics
- Availability to travel to international conferences and meetings with partners
The position is full-time for 1+1 years: upon completion of the first year a renewal will be granted if both parties are satisfied. The position will be paid according to the French salary regulations for Postdoctoral scholars depending on the candidate’s previous experience
How to apply
Interested candidates are requested to apply via this form
The position will remain open until a satisfactory candidate is found
- M. Aggravi, C. Pacchierotti, and P. Robuffo Giordano. Connectivity-Maintenance Tele-operation of a UAV Fleet with Wearable Haptic Feedback. IEEE Transactions on Automation Science and Engineering, 2020 (to appear)
- A. Franchi, P. Robuffo Giordano, G. Michieletto. Online Leader Selection for Collective Tracking and Formation Control: the Second Order Case. IEEE Transactions on Control of Network Systems, 6(4):1415-1425, December 2019
- C. Masone, M. Mohammadi, P. Robuffo Giordano, A. Franchi. Shared Planning and Control for Mobile Robots with Integral Haptic Feedback. The International Journal of Robotics Research, 37(11):1395-1420, November 2018.
- M. Selvaggio, F. Abi-Farraj, C. Pacchierotti, P. Robuffo Giordano, B. Siciliano. Haptic-based Shared-Control Methods for a Dual-Arm System. IEEE Robotics and Automation Letters (also presented at IROS’18), 3(4):4249-4256, October 2018.
- A. Franchi, P. Robuffo Giordano. Online Leader Selection for Improved Collective Tracking and Formation Maintenance. IEEE Trans. on Control of Network Systems, 5(1):3-13, March 2018
- T. Nestmeyer, P. Robuffo Giordano, H.-H. Bülthoff, A. Franchi. Decentralized Simultaneous Multi-target Exploration using a Connected Network of Multiple Robots. Autonomous Robots, 41(4):989-1011, April 2017
- F. Schiano, P. Robuffo Giordano. Bearing Rigidity Maintenance for Formations of Quadrotor UAVs. In IEEE Int. Conf. on Robotics and Automation, ICRA’17, Singapore, May 2017
- F. Schiano, A. Franchi, D. Zelazo, P. Robuffo Giordano. A Rigidity-Based Decentralized Bearing Formation Controller for Groups of Quadrotor UAVs. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS’16, Pages 5099-5106, Daejeon, Korea, October 2016.
- D. Zelazo, A. Franchi, H.-H. Bülthoff, P. Robuffo Giordano. Decentralized Rigidity Maintenance Control with Range Measurements for Multi-Robot Systems. The International Journal of Robotics Research, IJRR, 34(1):105-128, January 2015.
- P. Robuffo Giordano, A. Franchi, C. Secchi, H. H. Bülthoff. A Passivity-Based Decentralized Strategy for Generalized Connectivity Maintenance. The International Journal of Robotics Research, 32(3):299-323, March 2013
- A. Franchi, C. Secchi, H. I. Son, H. H. Bülthoff, P. Robuffo Giordano. Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology. IEEE Transactions on Robotics, 28(5):1019-1033, 2012
- A. Franchi, C. Masone, V. Grabe, M. Ryll, H. H. Bülthoff, P. Robuffo Giordano. Modeling and Control of UAV Bearing-Formations with Bilateral High-Level Steering. The Int. Journal of Robotics Research, Special Issue on 3D Exploration, Mapping and Surveillance, 31(12):1504-1525, October 2012