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In the framework of the research project “Innovative systems and services for transport and production” IDEX/I-SITE CAP 20-25 (Challenge 2 – Theme : AgroTechnologies) and the LabEx IMobS3, TSCF-Irstea and Institut Pascal are offering a PhD position for highly motivated candidates interested in completing a PhD thesis on robotics.
Coordinated control of a mobile manipulator carrying out dynamical work in natural environments
Mobile manipulators are of great interest to perform tedious and repetitive tasks on large areas. Several studies have set the first principles to synchronize the different degrees of freedom provided by the mobile platform and the robotic arm
, as well as to control the nonholonomic motions of the mobile base.
However, most of these studies focus on the displacements of the robot on rigid soils within structured and controlled environments, and consider quite often quasi-static work, i.e. the manipulator arm operates when the mobile base is stopped. However, for productivity purposes, in particular in agriculture, it becomes necessary to consider the coordination and a close coupling of the movements of the robot including in dynamical conditions, in particular in the case where the manipulation is used to carry and displace the monitoring and intervention tools (e.g. for diseases detection, spraying) with respect to a flexible target.
This thesis deals with mobile manipulators operating in natural environments. It will consider the development of strategies enabling the accurate control of the treatment body, carried by the manipulator arm, relatively to flexible target plants, and this in a dynamical context. First, the aim will be to ensure the accurate control of the 3D position/orientation of the sensors mounted on the robot end-effector while synchronizing the motions of the mobile base at low speed. Second, the thesis will develop perception and control algorithms for the mobile manipulator taking into account the specific phenomena and perturbations encountered in off-road conditions. Deep learning techniques could be evaluated in that way. The objective will be next to couple the motions of the base and the manipulator to ensure the efficiency of the task at potentially high speed, requiring to manage in particular the 3D motions (pitch, roll) inherent to displacements in off-road conditions.
This thesis will be based on several work already initiated on this thematic and will extend the principles of adaptive and predictive controls to ensure the efficiency and accuracy of the work in an agricultural context.
The candidates should send their candidatures via email at email@example.com and Christophe.firstname.lastname@example.org, including: (1) their CVs, (2) motivation letter, (3) transcripts of previous university degrees (unofficial are enough now), (4) previous research publications (if existing) and (5) contact information of 2 or 3 people who could serve as references.Continue reading
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