Phd Position F/m Robust and Agile Transportation of

il y a 2 semaines

Rennes, France Inria Temps plein

Le descriptif de l’offre ci-dessous est en Anglais_

**Type de contrat **:CDD

**Niveau de diplôme exigé **:Bac + 5 ou équivalent

**Fonction **:Doctorant

**A propos du centre ou de la direction fonctionnelle**:
The Inria Centre at Rennes University is one of Inria's eight centres and has more than thirty research teams. The Inria Centre is a major and recognized player in the field of digital sciences. It is at the heart of a rich R&D and innovation ecosystem: highly innovative PMEs, large industrial groups, competitiveness clusters, research and higher education players, laboratories of excellence, technological research institute, etc.

**Contexte et atouts du poste**:
**Conditions**:

- The work will be carried in English in the Rainbow team at the Inria Rennes Bretagne Atlantique research center.
- The Ph.D. position is full-time for 3 years (standard duration in France). The position will be paid according to the French salary regulations for PhD students.
- We do high quality and impactful research in robotics, publishing on the major journals and conferences.
- We often collaborate with other top researchers in europe and worldwide.
- You will have access to a well established laboratory including:

- two flying arenas equipped with motion tracking system, several quadrotors, and a few fully-actuated manipulators,
- one robotic manipulation lab equipped with several robotic arms, like the Franka Emika Panda.
- You will be part of an international and friendly team. We organize several events, from after works, to multi-day lab retreat.
- Regular visits and talks by internationally known researchers from top research labs.

**Supervisors **:M.** **Tognon, P. Robuffo Giordano

**Mission confiée**:
**Context**:
The most frequent approach to endow a drone with manipulation capabilities is the installation of dedicated equipment, such as grippers or robotic arms. Alternatively, the manipulation/transportation of objects can be performed cooperatively by multiple agents using **cables or tethers**. This latter approach has the advantage of simplicity and flexibility, as it allows the transportation or manipulation of possibly large, bulky, or heavy objects, like a stretcher in search and rescue scenarios. However, this approach requires accurate planning/control algorithms, as well as the precise coordination of the drones for the cooperative transportation/manipulation. Depending on the task at hand, such cooperative actions can also be carried out by multiple drones remotely controlled at high-level by a human operator (see Fig. 1 for an illustrative example). This allows blending the autonomy of the multi-drone system with the higher cognitive capabilities of a human operator who can be in charge of general aspects of the mission (what object to pick, where to release it, etc.).

The work will be carried out at **IRISA-CNRS in Rennes** as part of the Rainbow team, which is internationally recognized for its scientific activity as well as for technology transfer experience in the field of shared control, multi-robots, haptics, sensor-based control, visual tracking, and visual servoing.

**References**:

- Cable-suspended multi-drone system_
[a] D. Sanalitro, M. Tognon, A. Jimenez-Cano, J. Cortes, and A. Franchi, “Indirect Force Control of a Cable-suspended Aerial Multi-Robot Manipulator”. In : IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 2377-3766, 2022.
[b] A. E. Jiménez-Cano, Sanalitro, D., Tognon, M., Franchi, A., and Cortés, J., “Precise Cable-Suspended Pick-and-Place with an Aerial Multi-robot System”, Journal of Intelligent & Robotic Systems, vol. 105, pp. 1-13, 2022.
[c] D. Sanalitro, Savino, H. J., Tognon, M., Cortés, J., and Franchi, A., “Full-Pose Manipulation Control of a Cable-Suspended Load With Multiple UAVs Under Uncertainties”, IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2185-2191, 2020.
- Human/Multi-Drone Interaction_
[e] M. Aggravi, C. Pacchierotti, P. Robuffo Giordano. Connectivity-maintenance teleoperation of a uav fleet with wearable haptic feedback. IEEE Transactions on Automation Science and Engineering, 18(3), 1243-1262, 2020
[f] M. Aggravi, A. Alaaeldin Said Elsherif, P. Robuffo Giordano, C. Pacchierotti. Haptic-Enabled Decentralized Control of a Heterogeneous Human-Robot Team for Search and Rescue in Partially-known Environments. IEEE Robotics and Automation Letters (also presented at ICRA’21), 6(3):4843-4850, July 2021
[g] M. Aggravi, G. Sirignano, P. Robuffo Giordano, C. Pacchierotti. Decentralized control of a heterogeneous human-robot team for exploration and patrolling. IEEE Transactions on Automation Science and Engineering, 19(4):3109-3125, September 2022.
- Active Sensing and Localization for Multiple Drones_
[h] L. Balandi, N. de Carli, P. Robuffo Giordano. Persistent Monitoring of Multiple Moving Targets Using High Order Control Barrier Functions. IEEE Robotics and Automation Letters, 8(8):5236-5243, August 2023
[i] N.

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