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Postdoc Multi-Robot Motion Planning, Task Assignment and Learning for Mobile Manipulation in Dynamic Human-Centered Spaces

You will develop novel methods for multi-robot motion planning and task assignment in environments shared with humans, in collaboration with a PhD student and within the context of an H2020 project.

3 maanden geleden

Arbeidsvoorwaarden

Standplaats:
Mekelweg, Delft, Zuid-Holland
Dienstverband:
Tijdelijk contract / Tijdelijke opdracht
Uren per week:
36 - 38 uur
Opleidingsniveau:
Postdoctoraal

Functieomschrijving

We are looking for an ambitious Postdoctoral Researcher who would like to develop novel methods for multi-robot motion planning and task assignment in dynamic environments shared with humans. You will do so in collaboration with a PhD student under your direct supervision, and therefore can choose to focus on one particular aspect of the problem, while keeping the broader view. You will also collaborate with researchers across other organizations within the scope of the H2020 project.

This Postdoc is part of the H2020 project “HARMONY: Enhancing Healthcare with Assistive Robotic Mobile Manipulation”. The overall goal of Harmony is to enable robust, flexible and safe autonomous mobile manipulation robots for use in human-centred environments by making fundamental contributions in cognitive mechatronic technologies. Our targeted application area is assistive healthcare robotics. Our contribution to the project will be the multi-robot motion planning and task assignment module and you will take a leading role.

The objective of your Postdoc (together with the PhD student) is to develop the theory and frameworks required for motion planning and task assignment that can handle the inherent uncertainty of mixed operation with humans and other robots. Namely, an online motion planning and task assignment approach for single and teams of robots that a) computes congestion-free plans in uncertain environments shared with humans, other robots, and movable objects, b) adapts to new information and changes in the environment and tasks, and c) is robust to partial blackouts and system failures, i.e., it can be executed in a distributed way with bounded performance. You will closely cooperate, and supervise, a PhD student and may choose to primarily focus on the motion planning part (which entails coordination and learning of interactions with other robots and humans) or the task assignment part (which entails distributed dynamic task assignment and routing), while keeping an eye for the bigger picture and the integration in a holistic framework. Contributions at the intersection of the two are expected.

Together with the PhD student, the methods developed in this project will be tested and verified through their application to mobile robots and mobile manipulators cooperatively performing tasks in a hospital environment. Harmony consists of multiple partners across several European universities and companies and close collaboration with them, including the coordinators at ETH Zurich, is expected. You will have a leading role in the collaboration.

Department
You will be embedded within the Autonomous Multi-robots Lab in the Department of Cognitive Robotics at TU Delft. For more information of our ongoing research click here.

The main focus of the Cognitive Robotics department is the development of intelligent robots and vehicles that will advance mobility, productivity and quality of life. Our mission is to bring robotic solutions to human-inhabited environments, focusing on research in the areas of machine perception, motion planning and control, machine learning, automatic control and physical interaction of intelligent machines with humans. We combine fundamental research with work on physical demonstrators in areas such as self-driving vehicles, collaborative industrial robots, mobile manipulators and haptic interfaces. Strong collaborations exist with cross-faculty institutes TU Delft Robotics Institute and TU Delft Transport Institute), our national robotic ecosystem (RoboValley, Holland Robotics) and international industry and academia.

Functie-eisen

The candidate has a PhD degree in Robotics, Computer Science, Systems and Control, Applied Mathematics, or a related field, and has a strong publication record. The candidate must have strong analytical skills and must be able to work at the intersection of several research domains. Good programming skills and experience with Python/C++ and ROS are desirable, to implement the methods and the proposed designs on real mobile robots. A very good command of the English language is required, as well as excellent writing and communication skills. Candidates having exhibited their ability to perform research in task assignment, motion planning, machine learning, control, optimization and/or robotics are especially encouraged to apply.

Conditions

Salary and benefits are in accordance with the Collective Labour Agreement for Dutch Universities (salary indication: €3.491 - €4.402 per month). The TU Delft offers a customisable compensation package, a discount on health insurance and sport memberships, and a monthly work costs contribution. Flexible work schedules can be arranged.

For international applicants we offer the Coming to Delft Service and Partner Career Advice to assist you with your relocation. An International Children's Centre offers childcare and there is an international primary school.

Additional information

If you have specific questions about this position, please contact Associate Professor Dr. J. Alonso-Mora (j.alonsomora@tudelft.nl, +31 152785489) Always specify the vacancy number in the email subject. Please do not send application emails to this email address but use the specified address (application-3mE@tudelft.nl).

For more information about the selection precedure, please contact Mrs Hilma Bleeker at application-3me@tudelft.nl.