2023-05754 - PhD Position F/M ALRC 2023 Synchronization of uncertain and different-type systems via reinforcement learning
Contract type : Fixed-term contract
Level of qualifications required : Graduate degree or equivalent
Fonction : PhD Position
About the research centre or Inria departmentThe Inria University of Lille centre, created in 2008, employs 360 people including 305 scientists in 15 research teams. Recognised for its strong involvement in the socio-economic development of the Hauts-De-France region, the Inria University of Lille centre pursues a close relationship with large companies and SMEs. By promoting synergies between researchers and industrialists, Inria participates in the transfer of skills and expertise in digital technologies and provides access to the best European and international research for the benefit of innovation and companies, particularly in the region.
For more than 10 years, the Inria University of Lille centre has been located at the heart of Lille's university and scientific ecosystem, as well as at the heart of Frenchtech, with a technology showroom based on Avenue de Bretagne in Lille, on the EuraTechnologies site of economic excellence dedicated to information and communication technologies (ICT).
ContextThe problem of synchronizing different and uncertain dynamical systems (agents) appears in multiple contexts: electrical, mechanical or biological systems, network communications, etc. The difficulty comes from the need to force distinct dynamics (e.g., of mass, size, or even physical nature) to make similar movements by rejecting external disturbances. The uncertainty of the models for the agents introduces another technical obstacle for the realization of synchronous movements. The connection topology (leader- follower, or mutual), and the associated communication delays, represent other complications to synchronization, which must also be neglected by agents. Finally, constraints on allowable movements for each participant (e.g., avoiding collisions) turn this problem into a highly nonlinear and nonconvex question, where conventional control theory fails to provide a solution. The existing methods, mainly related to the model predictive control approach, deal with simple linear models of the systems, with a limited uncertainty, while assuming a convexity of the optimized goal functional, which is rarely observed in practice. The objective of this thesis project is to design synchronization control algorithms under severe uncertainty conditions, with the presence of other uncertain agents, which penalize the risk of error and its cost. The complexity of the posed problem requires an interdisciplinary approach for its solution, as envisaged in this project, which belongs to an intersection of the fields of machine learning and control theory. It is intended to combine reinforcement learning and model predictive control approaches for the realization of synchronization strategies for different and uncertain dynamic agents.
AssignmentFor references on the subject and previous works, please, check:
The suggested plan of this academic thesis consists in execution of three tasks or work packages, mainly oriented on development of fundamental approaches. Each will be accompanied by publications in international top rated journals and conferences, in the spirit of open and reproducible science, open-source code, etc.
Task 1: Modeling of the systems to be synchronized.
It is planned to search for admissible models to write the dynamics of agents (e.g., Lur'e or Persidskii models, homogeneous systems), and analyze uncertainty classes. Then the methods of their identification should be studied. Particular attention should be paid to the simplicity of implementation, the accuracy and the robustness of the available estimation approaches.
Task 2: Estimation and prediction of agent behavior.
For the chosen models, robust predictors and observers must be designed for behavior recognition of other participants and the controlled system. In the case of presentation of an agent by several models, it is necessary to discriminate online the current mode compared to the other variants.
Task 3: Robust synchronization.
Finally, synchronization control algorithms should be synthesized (the main goal), which should navigate systems towards cooperative movements in selected scenarios (assuming there is no common center for agent coordination). The intelligent regulator must take into account the uncertainty linked to the environment, the constraints imposed, possibly taking into account the rational behavior of other agents. Communication strategies must be analyzed, which can help in the synchronization of uncertain and different dynamic systems, in the presence of the resulting delays.
SkillsThe candidate should be familiar with basic methods in the AI theory and in the control theory (Lyapunov stability, observer design, model predictive control), as well as reinforcement learning (Markov decision processes, bandits).
Benefits package1st and 2nd year: 2 051€ gross per month
3rd year: 2 158€ gross per month
General InformationTheme/Domain : Robotics and Smart environments System & Networks (BAP E)
Town/city : Villeneuve d'Ascq
Inria is the French national research institute dedicated to digital science and technology. It employs 2,600 people. Its 200 agile project teams, generally run jointly with academic partners, include more than 3,500 scientists and engineers working to meet the challenges of digital technology, often at the interface with other disciplines. The Institute also employs numerous talents in over forty different professions. 900 research support staff contribute to the preparation and development of scientific and entrepreneurial projects that have a worldwide impact.
Instruction to applyCV + Cover Letter
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