The ERC Starting Grant project Controlling imperfect robot swarms (iSwarm) at the University of Granada, Spain, seeks two Ph.D. students in Multi-agent systems and Perception in aerial swarms.
The starting date is in 2024 (preferably between January and October).
PhD1: Multi-agent systems in control theory
The project questions the current paradigm of fighting imperfections to suppress their “damaging” effects. Conversely, we propose a rigorous control theory to unleash and ally with imperfections, such as dropouts, delays, and scaling/biasing factors in sensors and actuators, as novel distributed control inputs for taming emergent behaviors. This paradigm shift requires new ways of analyzing algorithms and their robot integration at the crossroads between algebraic graph theory, network theory, control, and mechatronics for multi-agent systems.
Your theoretical results are not academic exercises since they will be applied immediately to our fleets of robots. Be ready to incorporate all kinds of real-world imperfections in multi-agent systems models to analyze their impact on the coordination of the swarm. The objective of your Ph.D. is to devise systematic methodologies on how to profit from imperfections for the coordination and synchronization of real-world robotic swarms.
Desired skills:
- English is essential, together with communication skills.
- Very competent with analysis (linear algebra, calculus, and differential equations) and physics (differential geometry, mechanics).
PhD2: Perception with aerial robot swarms
The project questions the current paradigm of fighting imperfections to suppress their “damaging” effects. Conversely, we propose a rigorous control theory to unleash and ally with imperfections like those in real-world perception systems. Perception is central to controlling robot swarms without external assistance, e.g., motion capture systems or GPS. Your research will focus on one of these topics to be decided within your first year.
- Perception within the swarm. How the robot individuals measure their relative states, mostly geometrical, to enable the implementation of pure swarm algorithms, i.e., no central commands or external infrastructures. The algorithms in our group will exploit the real-world imperfections in your perception system to promote predictable emergent behavior.
- Swarm perception of the environment. How partial measurements and the coordination of a swarm can enhance the global perception of the environment.
AI is a relevant part of robot perception, and we acknowledge its tremendous benefits. However, methodologies based on rigorous math and physics over total black-box approaches are always preferable in our group. Perception will be primarily based on fusing radio, LIDAR, and vision sensors.
Desired skills:
- English is essential, together with communication skills.
- Experience with aerial robots and perception/localization. Programming of embedded systems (C), and scripting (Python).
- Comfortable with mathematics. You should understand first algorithms on paper before their software integration.
- Flying experience for this position is a plus, along with mechatronics skills in assembling and maintaining aerial robots. We are part of an aeromodelling club, and you will not be alone in this matter, but you must feel comfortable within such an environment.
For both positions, we offer:
- 30k€/year gross salary for four years. The contract includes the Spanish universal healthcare. Granada offers a low cost of living, affordable housing, and an outstanding quality of life.
- Budget for equipment and travel.
Interested? Check how to apply at https://www.swarmsystemslab.eu/open-positions