PhD Position Interaction-Aware Motion Planning

You will investigate methods for uncertainty-aware motion planning, using learning and optimization, and apply them to mobile robots that interact with other robots and humans.

Mobile robots are not yet capable of seamless interaction in human populated environments, primarily due to the high complexity of modeling and reasoning over the effect that robot actions have on other robots and humans, and the inherent uncertainty. Humans rely on intuition, namely the ability to understand interaction instinctively, without the need for conscious reasoning. The goal of this project is to provide mobile robots with the ability to reason about their coordination with other agents and the associated risks, take appropriate actions and continuously reassess.

In this project we will take a holistic view on the interaction of mobile robots and humans, where we will consider multiple spatio-temporal granularities ranging from individual interactions to the interaction of a robot fleet with the humans in a city, and from short term (local) to long term (global) effects of the interaction. You will employ reinforcement learning tools to build local and global intuition models of the interaction between robots and their environment. Then, you will integrate these intuition models in uncertainty-aware trajectory optimization methods to compute safe interaction-aware trajectories for mobile robots. Within the project, you will be responsible for motion planning and collaborate with other researchers responsible for task assignment and perception.

Thus, you will make a fundamental contribution towards intuitive multi-robot interaction, making it possible for teams of mobile robots to safely interact in human-centric environments and enabling a new level of automation in factories and cities.

You will work on the ERC Starting Grant project "Intuitive Interaction for Humans among Robots (INTERACT)" and be embedded within the Autonomous Multi-Robots Lab in the Department of Cognitive Robotics at TU Delft.

The goal of the Autonomous Multi-Robots Laboratory at the Delft University of Technology is to develop novel methods for navigation, motion planning, learning and control of autonomous mobile robots, with a special emphasis on multi-robot systems, on-demand transportation and robots that interact with other robots and humans in dynamic and uncertain environments. Building towards the smart cities of the future, our applications include self-driving vehicles, mobile manipulators, micro-aerial vehicles, last-mile logistics and ride-sharing. See: https://www.autonomousrobots.nl/

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. http://www.cor.tudelft.nl/

The candidate has a MSc degree in Systems and Control, Computer Science, Applied Mathematics, Robotics, or a related field. The candidate must be able to work at the intersection of several research domains and have a passion for doing ground-breaking theoretical research and applying it to real robots. Good programming skills and experience with programming languages such as Python and C++ are important. Excellent command of the English language is required, as well as excellent communication skills. Candidates with a background in numerical optimization, control theory, machine learning and/or robotics are especially encouraged to apply. Experience with motion planning and/or reinforcement learning algorithms is a strong plus.

The preferred starting date is in the fall of 2022, or early 2023. However, this is flexible and can be negotiated.

Doing a PhD at TU Delft requires English proficiency at a certain level to ensure that the candidate is able to communicate and interact well, participate in English-taught Doctoral Education courses, and write scientific articles and a final thesis. For more details please check the Graduate Schools Admission Requirements .

Doctoral candidates will be offered a 4-year period of employment in principle, but in the form of 2 employment contracts. An initial 1,5 year contract with an official go/no go progress assessment within 15 months. Followed by an additional contract for the remaining 2,5 years assuming everything goes well and performance requirements are met.

Salary and benefits are in accordance with the Collective Labour Agreement for Dutch Universities, increasing from € 2443 per month in the first year to € 3122 in the fourth year. As a PhD candidate you will be enrolled in the TU Delft Graduate School. The TU Delft Graduate School provides an inspiring research environment with an excellent team of supervisors, academic staff and a mentor. The Doctoral Education Programme is aimed at developing your transferable, discipline-related and research skills.

The TU Delft offers a customisable compensation package, discounts 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.

Delft University of Technology is built on strong foundations. As creators of the world-famous Dutch waterworks and pioneers in biotech, TU Delft is a top international university combining science, engineering and design. It delivers world class results in education, research and innovation to address challenges in the areas of energy, climate, mobility, health and digital society. For generations, our engineers have proven to be entrepreneurial problem-solvers, both in business and in a social context. At TU Delft we embrace diversity and aim to be as inclusive as possible (see our Code of Conduct ). Together, we imagine, invent and create solutions using technology to have a positive impact on a global scale.

Challenge. Change. Impact!

The Faculty of 3mE carries out pioneering research, leading to new fundamental insights and challenging applications in the field of mechanical engineering. From large-scale energy storage, medical instruments, control technology and robotics to smart materials, nanoscale structures and autonomous ships. The foundations and results of this research are reflected in outstanding, contemporary education, inspiring students and PhD candidates to become socially engaged and responsible engineers and scientists. The faculty of 3mE is a dynamic and innovative faculty with an international scope and high-tech lab facilities. Research and education focus on the design, manufacture, application and modification of products, materials, processes and mechanical devices, contributing to the development and growth of a sustainable society, as well as prosperity and welfare.

Click here to go to the website of the Faculty of Mechanical, Maritime and Materials Engineering. Do you want to experience working at our faculty? This video will introduce you to some of our researchers and their work.

For more information about this vacancy, please contact Associate Professor Dr. Javier Alonso-Mora. Email: [email protected] .

For information about the selection procedure, please contact Hilma Bleeker, HR-advisor, email: [email protected].

Are you interested in this vacancy? Please apply by June 15th, 2022 via the application button and upload:

1) a letter of motivation explaining why you are the right candidate for this project;

2) an updated cv;

3) exam transcript from your Bachelor and Master;

4) a copy of your MSc thesis, or draft MSc thesis (or a link to access it). If your MSc thesis is not available, or it is not in English, then submit a publication that you have co-authored;

4) email addresses of (at least) two referees;

5) a (max) one page research statement highlighting your research skills for this position (you may comment on your past projects) and what you would like to work on in the PhD;

A pre-employment screening can be part of the selection procedure.

You can apply online. We will not process applications sent by email and/or post.

Acquisition in response to this vacancy is not appreciated.

You will investigate methods for uncertainty-aware motion planning, using learning and optimization, and apply them to mobile robots that interact with other robots and humans.

Mobile robots are not yet capable of seamless interaction in human populated environments, primarily due to the high complexity of modeling and reasoning over the effect that robot actions have on other robots and humans, and the inherent uncertainty. Humans rely on intuition, namely the ability to understand interaction instinctively, without the need for conscious reasoning. The goal of this project is to provide mobile robots with the ability to reason about their coordination with other agents and the associated risks, take appropriate actions and continuously reassess.

In this project we will take a holistic view on the interaction of mobile robots and humans, where we will consider multiple spatio-temporal granularities ranging from individual interactions to the interaction of a robot fleet with the humans in a city, and from short term (local) to long term (global) effects of the interaction. You will employ reinforcement learning tools to build local and global intuition models of the interaction between robots and their environment. Then, you will integrate these intuition models in uncertainty-aware trajectory optimization methods to compute safe interaction-aware trajectories for mobile robots. Within the project, you will be responsible for motion planning and collaborate with other researchers responsible for task assignment and perception.

Thus, you will make a fundamental contribution towards intuitive multi-robot interaction, making it possible for teams of mobile robots to safely interact in human-centric environments and enabling a new level of automation in factories and cities.

You will work on the ERC Starting Grant project "Intuitive Interaction for Humans among Robots (INTERACT)" and be embedded within the Autonomous Multi-Robots Lab in the Department of Cognitive Robotics at TU Delft.

The goal of the Autonomous Multi-Robots Laboratory at the Delft University of Technology is to develop novel methods for navigation, motion planning, learning and control of autonomous mobile robots, with a special emphasis on multi-robot systems, on-demand transportation and robots that interact with other robots and humans in dynamic and uncertain environments. Building towards the smart cities of the future, our applications include self-driving vehicles, mobile manipulators, micro-aerial vehicles, last-mile logistics and ride-sharing. See: https://www.autonomousrobots.nl/

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. http://www.cor.tudelft.nl/

The candidate has a MSc degree in Systems and Control, Computer Science, Applied Mathematics, Robotics, or a related field. The candidate must be able to work at the intersection of several research domains and have a passion for doing ground-breaking theoretical research and applying it to real robots. Good programming skills and experience with programming languages such as Python and C++ are important. Excellent command of the English language is required, as well as excellent communication skills. Candidates with a background in numerical optimization, control theory, machine learning and/or robotics are especially encouraged to apply. Experience with motion planning and/or reinforcement learning algorithms is a strong plus.

The preferred starting date is in the fall of 2022, or early 2023. However, this is flexible and can be negotiated.

Doing a PhD at TU Delft requires English proficiency at a certain level to ensure that the candidate is able to communicate and interact well, participate in English-taught Doctoral Education courses, and write scientific articles and a final thesis. For more details please check the Graduate Schools Admission Requirements .

Doctoral candidates will be offered a 4-year period of employment in principle, but in the form of 2 employment contracts. An initial 1,5 year contract with an official go/no go progress assessment within 15 months. Followed by an additional contract for the remaining 2,5 years assuming everything goes well and performance requirements are met.

Salary and benefits are in accordance with the Collective Labour Agreement for Dutch Universities, increasing from € 2443 per month in the first year to € 3122 in the fourth year. As a PhD candidate you will be enrolled in the TU Delft Graduate School. The TU Delft Graduate School provides an inspiring research environment with an excellent team of supervisors, academic staff and a mentor. The Doctoral Education Programme is aimed at developing your transferable, discipline-related and research skills.

The TU Delft offers a customisable compensation package, discounts 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.

Delft University of Technology is built on strong foundations. As creators of the world-famous Dutch waterworks and pioneers in biotech, TU Delft is a top international university combining science, engineering and design. It delivers world class results in education, research and innovation to address challenges in the areas of energy, climate, mobility, health and digital society. For generations, our engineers have proven to be entrepreneurial problem-solvers, both in business and in a social context. At TU Delft we embrace diversity and aim to be as inclusive as possible (see our Code of Conduct ). Together, we imagine, invent and create solutions using technology to have a positive impact on a global scale.

Challenge. Change. Impact!

The Faculty of 3mE carries out pioneering research, leading to new fundamental insights and challenging applications in the field of mechanical engineering. From large-scale energy storage, medical instruments, control technology and robotics to smart materials, nanoscale structures and autonomous ships. The foundations and results of this research are reflected in outstanding, contemporary education, inspiring students and PhD candidates to become socially engaged and responsible engineers and scientists. The faculty of 3mE is a dynamic and innovative faculty with an international scope and high-tech lab facilities. Research and education focus on the design, manufacture, application and modification of products, materials, processes and mechanical devices, contributing to the development and growth of a sustainable society, as well as prosperity and welfare.

Click here to go to the website of the Faculty of Mechanical, Maritime and Materials Engineering. Do you want to experience working at our faculty? This video will introduce you to some of our researchers and their work.

For more information about this vacancy, please contact Associate Professor Dr. Javier Alonso-Mora. Email: [email protected] .

For information about the selection procedure, please contact Hilma Bleeker, HR-advisor, email: [email protected].

Are you interested in this vacancy? Please apply by June 15th, 2022 via the application button and upload:

1) a letter of motivation explaining why you are the right candidate for this project;

2) an updated cv;

3) exam transcript from your Bachelor and Master;

4) a copy of your MSc thesis, or draft MSc thesis (or a link to access it). If your MSc thesis is not available, or it is not in English, then submit a publication that you have co-authored;

4) email addresses of (at least) two referees;

5) a (max) one page research statement highlighting your research skills for this position (you may comment on your past projects) and what you would like to work on in the PhD;

A pre-employment screening can be part of the selection procedure.

You can apply online. We will not process applications sent by email and/or post.

Acquisition in response to this vacancy is not appreciated.