PhD Position (Cifre): Self-organization and real-time reconfigurability of collaborative multi-robotic systems
18 Mai 2021
Catégorie : Doctorant
A PhD position is proposed by the XLIM research institute (UMR CNRS 7252) and awarded by Extia research and development. He/She is intended to join a team of researchers and developers and to undertake jointly work to advance the state-of-the-art in design and control of ubiquitous smart collective systems. The PhD is supported by CIFRE program (industrial research agreement) that is a partnership between a French company, a laboratory and a graduate.
PhD Subject and objectives :
The PhD thesis aims to address new paradigms of self-organizing robotic systems to meet the challenges of adaptability, resilience and agility. Strong emphasis will be placed on task and perception oriented strategies to achieve dynamic and real-time reconfigurability in dynamic and disturbed environments. The target applications concern mainly decentralized and distributed environment monitoring and autonomous self-docking. A proof-of-concept platform will be used to demonstrate the efficiency of the control strategies in various scenarios and situations.
Environment perception, task-based reconfiguration and consensus-based navigation involve multiple scientific and technological challenges that will be addressed at different levels in this study:Perception-based localization of decentralized systems; Real-time coordination of heterogeneous systems; Collective trajectory planing and navigation in dynamic environments; Fleet coordination and task-oriented formation in highly disturbed and dynamic environments and Robustness to various environmental and parametric uncertainties