PostDoc in Shared Control for Multi-Robot Systems

PostDoc Position in

Shared Control for Multi-Robot Systems

 

 

 


Team: Rainbow IRISA/Inria Rennes

Advisors: Paolo Robuffo Giordano and Claudio Pacchierotti

Scientific contact: prg@irisa.fr

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


PostDoc Subject

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

 

Context

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.

 

Skills/Requirements

  • 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

Conditions

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


 

References

 

 

 

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