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Post-Doc - Environmental context-adaptive navigation for autonomous vehicles

14 Avril 2022


Catégorie : Post-doctorant


The ISAE-SUPAERO in Toulouse is looking for a postdoc in the field of computer vision, signal processing and robotics, starting in 2022.

The aim of the post-doc is to develop and demonstrate a context-aware adaptative navigation system for autonomous robots.

 

Context

Autonomous robots and vehicles have started to be widely used both in military and in real-life operations: transports & logistics, infrastructure inspection, disaster relief and rescue operation, etc. Though, such vehicle operations are yet quite limited to relatively simple environments due to its immature level of navigation safety. One of the challenges is to ensure the robust navigation capability in different environmental contexts. Most of autonomous vehicles navigating outdoor rely its localization precision on GNSS (Global Navigation Satellite System). However, harsh environment such as urban context presents satellite masking and multipath phenomena, which make GNSS-positioning unreliable.

For addressing this issue, on one hand, the GNSS navigation research community has been developing new robustification algorithms: multipath mitigation, Doppler aiding and shadow matching algorithms [1]. These algorithms are often dedicated to mitigate one specific GNSS limitation occurring in a specific environmental context. The GNSS/IMU tight-coupling is also one of such solutions. On another hand, in the robotics community, one can find an intensive research work devoted to vision-based navigation, such as visual odometry and visual SLAM (Simultaneous Localization and Mapping). It gives an alternative positioning mean in a GNSS-denied environment, but requires additional computation load for image processing.

In this context, within the French MoD-funded Concorde project, we develop a “context-aware” navigation system that is able to detect a current navigating context and to reconfigure itself according to the detected context. We consider a conventional sensor suit (IMU, GNSS and vision), without access inside the GNSS receiver. The first part of this work, being conducted as a Ph.D. thesis (2020-2022), focuses on the environmental context detection based on GNSS signal features. This offered post-doctoral position aims to develop the reconfiguration strategies of the navigation system, and to implement it with the context detector for demonstration.

Requiements :

The candidate must hold Ph.D. degree in robotics, navigation systems, or related areas.

Knowledge on: GNSS systems, Information processing, Signal processing, Multi-sensor fusion, Navigation filter design, Computer vision, Robust filtering...
Programming skill: Matlab, C++, Python, ROS (Robot Operating System), Unix

CONTACTS :
Damien VIVET, Assistant professor, ISAE-SUPAERO
damien.vivet@isae-supaero.fr
Yoko WATANABE, Research engineer, ONERA
yoko.watanabe@onera.fr