Phd Position F/m Sensors-based Distributed Control

il y a 3 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**:
**Description**:
**Research Objectives**:The primary objective of this Ph.D. thesis is to explore **sensor-based** **and** **distributed** **coordination strategies for multi-aerial robot systems with cable-suspended loads**, facilitating collaborative object manipulation and transportation through local interactions. Distributed solutions pose particular challenges, especially when addressing communication constraints among the robots. The objective is then to consider hierarchical strategies where robots communicate at a low frequency and coordinate at a higher/planning level, subsequently executing the plan through local implicit communication based on sensor-based feedback such as vision and/or force sensing.

**Related references**:
- S. Sun and A. Franchi, "Nonlinear MPC for Full-Pose Manipulation of a Cable-Suspended Load using Multiple UAVs," 2023 International Conference on Unmanned Aircraft Systems (ICUAS), Warsaw, Poland, 2023, pp. 969-975.
- Sanalitro, D. (2022). Aerial Cooperative Manipulation: full pose manipulation in air and in interaction with the environment (Doctoral dissertation, INSA de Toulouse).
- D. Sanalitro, H. Savino, M. Tognon, J. Cortés, and A. Franchi “Full-pose manipulation control of a cable-suspended load with multiple UAVs under uncertainties”. IEEE Robotics and Automation Letters, 2020,5(2), 2185-2191.
- C. Gabellieri, M. Tognon, D. Sanalitro and A. Franchi, "Force-Based Pose Regulation of a Cable-Suspended Load Using UAVs with Force Bias,” 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, MI, USA, 2023, pp. 6920-6926.
- N. de Carli, P. Salaris, P. Robuffo Giordano. Multi-Robot Active Sensing for Bearing Formations. MSR 2023 - IEEE International Symposium on Multi-Robot & Multi-Agent Systems, Dec 2023, Boston (MA), United States. pp.1-7.
- L. Guanrui, and G. Loianno. "Nonlinear Model Predictive Control for Cooperative Transportation and Manipulation of Cable Suspended Payloads with Multiple Quadrotors." arXiv preprint arXiv:2303.06165 (2023).
- A. Ollero, M. Tognon, A. Suarez, D. J. Lee, and A. Franchi. ''Past, present, and future of aerial robotic manipulators.’’ IEEE Trans. on Robotics, 2021.
- S., Ola, and M. Schwager. "Distributed Model Predictive Control via Separable Optimization in Multi-Agent Networks." IEEE Transactions on Automatic Control (2023).
- L. Peric, Brunner, M., Bodie, K., M. Tognon, and Siegwart, R., “Direct Force and Pose NMPC with Multiple Interaction Modes for Aerial Push-and-Slide Operations”, in 2021 IEEE Int. Conf. on Robotics and Automation, Xi’an, China, 2021

**Principales activités**:
**Envisaged Activities**:
Envisioned solutions will build upon existing centralized or kinematic results [2,3] and communication-less regulation approaches [4] to propose a fully **sensor-based**, **dynamics-based**, and **distributed** framework for _collaborative agile manipulation of cable-suspended loads_. For the control side, a starting point are the existing centralized approaches based on Model Predictive Control (MPC) for single
- [9] and multi-aerial robots [1,6]. Our team has undertaken preliminary work exploring the extension of [1] through a distributed MPC solution based on [9], initia

  • Phd Position at Ietr

    il y a 6 jours

    Rennes, France INSTITUT NATIONAL DES SCIENCES APPLIQUEES Temps plein

    **PhD Position at IETR - Ecodesign of Embedded Systems applied to Smart Vision**: - Réf **ABG-123956** - Sujet de Thèse- 17/05/2024- Contrat doctoral- INSTITUT NATIONAL DES SCIENCES APPLIQUEES- Lieu de travail- Rennes - Bretagne - France- Intitulé du sujet- PhD Position at IETR - Ecodesign of Embedded Systems applied to Smart Vision- Champs...

  • Phd Position at Ietr

    il y a 6 jours

    Rennes, France INSA RENNES Temps plein

    **About us**: INSA Rennes, a founding member of the INSA Group, is the largest public engineering school in Brittany. It welcomes 2,200 students and apprentices and graduates more than 340 engineers, 60 masters and 40 PhDs per year. Composed of 10 teaching departments, including 7 specialties and an apprenticeship program, and supervised by 6 research...

  • Phd Position F/m Latency-driven Resources Placement

    il y a 4 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 Rennes - Bretagne Atlantique Centre is one of Inria's eight centres and has more than thirty research teams. The Inria Center is a...

  • PhD Position F/M Enabling Scientific Workflow Composition in Large-Scale Distributed Infrastructures

    il y a 4 jours

    Rennes, France INRIA Temps plein

    Contexte et atouts du poste Supervisory Team Silvina Caino-Lores, PhD (Inria, France) Gabriel Antoniu, PhD, HDR (Inria, France) Location and Mobility The thesis will be hosted by the KerData team at the Inria research center of Rennes. Rennes is the capital city of Britanny, in the western part of France. It is easy to reach thanks to...

  • Igdr Phd Call

    il y a 4 semaines

    Rennes, France Institut de Génétique et Développement de Rennes (IGDR) Temps plein

    **IGDR PhD call - 5 to 7 positions**: - Réf - **ABG-112632** - Sujet de Thèse- 29/03/2023- Contrat doctoral- Institut de Génétique et Développement de Rennes (IGDR)- Lieu de travail- Rennes - Bretagne - France- Intitulé du sujet- IGDR PhD call - 5 to 7 positions- Champs scientifiques- Biologie - Biochimie - Santé, médecine humaine, vétérinaire -...

  • Phd Positions in Rennes

    il y a 4 semaines

    Rennes, France IGDR Université Rennes Temps plein

    **PhD positions in Rennes (France), life sciences**: - Réf - **ABG-110607** - Sujet de Thèse- 30/01/2023- Contrat doctoral- IGDR Université Rennes- Lieu de travail- Rennes - Bretagne - France- Intitulé du sujet- PhD positions in Rennes (France), life sciences- Champs scientifiques- Biologie - Biochimie - Santé, médecine humaine, vétérinaire - Mots...

  • Phd Positions in Rennes

    il y a 4 semaines

    Rennes, France Institute of Genetics and Development of Rennes (IGDR) Temps plein

    The IGDr (Institute of Genetics & Development of Rennes) is seeking 5 to 7 motivated PhD students, starting October, 2023. At the IGDR, PhD students will benefit from a dynamic and interactive research environment, and from the IGDR seminar program which attracts national and international speakers. Within the PhD program, the PhD students will also develop...

  • Phd Positions in Rennes

    il y a 1 mois

    Rennes, France Institute of Genetics and Development of Rennes (IGDR) Temps plein

    The IGDr (Institute of Genetics & Development of Rennes) is seeking 4 to 8 motivated PhD students, starting October, 2024. PhD students will conduct their research within one of the 15 teams of the IGDR. Cutting-edge training will be offered on topics encompassing the two main research axes of the IGDR: “Genetics, Genomics and Cancer” and “Cell...

  • PhD Position F/M Multimodal Segmentation of Chronic Stroke Lesions

    il y a 1 mois

    Rennes, France INRIA Temps plein

    Contexte et atouts du poste Co-director : Elise Bannier, IR UR, Empenn Co-director : Elisa Fromont, PR UR, Lacodam Co-supervisor : Francesca Galassi, MCF UR, Empenn Co-supervisor : Stéphanie Leplaideur, Medical Doctor, Centre de KERPAPE The selected PhD candidate will have the opportunity to join the research lab Empenn at Inria-Irisa, located...

  • PhD Position F/M Reliability and Security of Large Foundation Models

    il y a 1 mois

    Rennes, France INRIA Temps plein

    PhD Position F/M Reliability and Security of Large Foundation Models 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 Rennes - Bretagne Atlantique Centre is one of...

  • Researcher in the field of Inverter Systems for Motor Drive applications

    il y a 2 jours

    Rennes, France Mitsubishi Electric R&D Centre Europe - France Temps plein

    Context and description:MERCE is committed to research technologies in the field of power electronics. We are passionate about creating innovative and dependable electric power systems that offer exceptional performance and efficiency. Our goal is to deliver the most effective and cutting-edge technology solutions to an energy-wise society.Conducting...

  • Researcher in the field of Inverter Systems for Motor Drive applications

    il y a 4 jours

    Rennes, Ille-et-Vilaine, France Mitsubishi Electric R&D Centre Europe - France Temps plein

    Context and description:MERCE is committed to research technologies in the field of power electronics. We are passionate about creating innovative and dependable electric power systems that offer exceptional performance and efficiency. Our goal is to deliver the most effective and cutting-edge technology solutions to an energy-wise society.Conducting...

  • Researcher in the field of Inverter Systems for Motor Drive applications

    il y a 1 mois

    Rennes, France Mitsubishi Electric R&D Centre Europe - France Temps plein

    Context and description:MERCE is committed to research technologies in the field of power electronics. We are passionate about creating innovative and dependable electric power systems that offer exceptional performance and efficiency. Our goal is to deliver the most effective and cutting-edge technology solutions to an energy-wise society.Conducting...

  • Phd Position F/m Reliability and Security of Large

    il y a 4 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 Rennes - Bretagne Atlantique Centre is one of Inria's eight centres and has more than thirty research teams. The Inria Center is a...

  • R&D Engineer in Physic and Chemistry, PhD

    il y a 4 semaines

    Rennes, France Sweetch Energy Temps plein

    About usSweetch Energy is a renewable energy player specialising in osmotic energy, committed to a carbon neutral world. Based in Rennes, our journey started in 2015 and we are proud to build a net zero future by exploiting a massively available, yet untapped, natural source of energy: osmotic power.Thanks to our INOD® technology, osmotic power will become...

  • Post-doctorat Membraneless Electrolysers Based On

    il y a 1 mois

    Rennes, France CNRS Temps plein

    Cette offre est disponible dans les langues suivantes: - Français - Anglais Date Limite Candidature : vendredi 10 mai 2024 **Informations générales**: **Intitulé de l'offre **:Post-doctorat Membraneless electrolysers based on bubble dynamics for H2 production (H/F)** Référence : UMR6251-MARJUL-004 Nombre de Postes : 1 Lieu de travail : RENNES Date...

  • R&D Engineer in Exascale High-Performance Computing

    il y a 1 mois

    Rennes, France INRIA Temps plein

    Contexte et atouts du poste About Inria, the team and the position Inria is the only French public research body fully dedicated to computational sciences. Inria's missions are to produce outstanding research in the computing and mathematical fields of digital sciences and to ensure its impact on the economy and society through technology transfer...

  • Synthesis of Functionalized Lipids for Drug Delivery

    il y a 4 semaines

    Rennes, France Ecole Nationale Supérieure de Chimie de Rennes - UMR CNRS 6226 Temps plein

    **Site web**: **Poste et missions**: **Mobilité géographique**: - Européenne**Télétravail**: - Occasionnel**Prise de fonction**: - 02/10/2023**Profil**: Applicants must have obtained a **PhD in organic chemistry** and have skills/knowledge in** NMR analysis**, chemistry of lipids and possible in formulation of nanoparticles for drug delivery....

  • Development of a Hybrid Machine Learning Model for

    il y a 6 jours

    Rennes, France LTSI - UMR INSERM 1099 Temps plein

    **Development of a hybrid machine learning model for predicting response to cardiac resynchronization therapy**: - Réf **ABG-123925** - Sujet de Thèse- 16/05/2024- Financement public/privé- LTSI - UMR INSERM 1099- Lieu de travail- Rennes - Bretagne - France- Intitulé du sujet- Development of a hybrid machine learning model for predicting response to...

  • Senior Observability Platform Developer

    il y a 4 semaines

    Rennes, France Canonical - Jobs Temps plein

    Canonical seeks an experienced developer with a proven track record in Python and/or Go. As part of the Observability team, you will develop a cloud-native monitoring stack that composes best-in-class open-source monitoring tools. The stack is opinionated, resilient, and scalable, providing deep insights out of the box. The user experience is polished and...