Control of robotic arms for cooperative manipulations
Title: Control of robotic arms for cooperative manipulations
Robot manipulators are extensively used in a great variety of industrial contexts ranging from automated production lines to teleoperations. The accomplishment of complex tasks can require the cooperation of multiple robot manipulators in a highly constrained environment. From rendezvous problems to cooperative manipulation and transportation of a single object by several robot manipulators, robust Model Predictive Control (MPC) has emerged as the predominant technique to deal with constraints applying on both a single agent and the multi-agent system.
The aim of this post-doctoral position is twofold. The first objective addresses both modeling and control of a system of collaborative robotic arms. Centralized/decentralized/distributed MPC approaches will be investigated to ensure a high level of performance while guaranteeing safe object manipulations in a highly constrained environment (including, e.g., smooth maneuvers and obstacles avoidance). The second objective embraces the implementation and experimental validation of the developed control schemes on a system of two collaborative robotic arms.
- PhD. in control, preferably with major in the analysis and control of robotics systems;
- Familiarity with the robotics suite Robot Operating Systems (ROS);
- Strong scientific culture assessed by publications in leading international journals and conferences;
- Familiarities and interest in intelligent autonomous systems would be appreciated.
General information : 1-year post-doctoral position starting from September 2021; Framework: L2S call for projects 2021
Application deadline : 1st June, 2021 (23:30 Paris local time)
Full description and application procedure: https://l2s.centralesupelec.fr/job/post-doctoral-position/