法國(guó)國(guó)家科學(xué)研究中心(CNRS) 2022年招聘博士后（多機(jī)器人系統(tǒng)共享控制）

法國(guó)國(guó)家科學(xué)研究中心（法文：Centre national de la recherche scientifique），簡(jiǎn)稱“CNRS”，成立于1939年10月19日，隸屬于法國(guó)高等教育和研究部，是法國(guó)最大的政府研究機(jī)構(gòu)，也是歐洲最大的基礎(chǔ)科學(xué)研究機(jī)構(gòu)，同時(shí)也是世界頂尖的科學(xué)研究機(jī)構(gòu)之一。它的使命是探索生命世界、物質(zhì)、宇宙和人類社會(huì)的運(yùn)作。CNRS因其在科學(xué)領(lǐng)域的卓越貢獻(xiàn)而在國(guó)際上享有盛譽(yù)，被認(rèn)為是世界科學(xué)技術(shù)發(fā)展的“風(fēng)向標(biāo)”。在2020自然指數(shù)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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