法国国家科学研究中心(CNRS) 2022年招聘博士后(多机器人系统共享控制)
法国国家科学研究中心(CNRS) 2022年招聘博士后(多机器人系统共享控制)
法国国家科学研究中心(法文:Centre national de la recherche scientifique),简称“CNRS”,成立于1939年10月19日,隶属于法国高等教育和研究部,是法国最大的政府研究机构,也是欧洲最大的基础科学研究机构,同时也是世界顶尖的科学研究机构之一。它的使命是探索生命世界、物质、宇宙和人类社会的运作。CNRS因其在科学领域的卓越贡献而在国际上享有盛誉,被认为是世界科学技术发展的“风向标”。在2020自然指数排名中,CNRS名列世界第4。
Postdoc In Shared Control For Multi-Robot Systems (M/F)
Universities and Institutes of France
Organisation/Company: CNRS
Research Field: Computer science Engineering Mathematics
Researcher Profile: Recognised Researcher (R2)
Application Deadline: 16/12/2022 23:59 - Europe/Brussels
Location: France › RENNES
Type Of Contract: Temporary
Job Status: Full-time
Hours Per Week: 35
Offer Starting Date: 01/02/2023
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 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.
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.
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.
Eligibility criteria
- 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
Web site for additional job details
https: // emploi.cnrs.fr/Offres/CDD/UMR6074-PAOROB-009/Default.aspx
Required Research Experiences
RESEARCH FIELD
Engineering
YEARS OF RESEARCH EXPERIENCE
1 - 4
RESEARCH FIELD
Computer science
YEARS OF RESEARCH EXPERIENCE
1 - 4
RESEARCH FIELD
Mathematics
YEARS OF RESEARCH EXPERIENCE
1 - 4
Offer Requirements
REQUIRED EDUCATION LEVEL
Engineering: PhD or equivalent
Computer science: PhD or equivalent
Mathematics: PhD or equivalent
REQUIRED LANGUAGES
FRENCH: Basic
Contact Information
Organisation/Company: CNRS
Department: Institut de recherche en informatique et systèmes aléatoires
Organisation Type: Public Research Institution
Website: https:// www. irisa.fr
Country: France
City: RENNES
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