Consensus Control for Tactile Internet

CONSENSUS CONTROL FOR TACTILE INTERNET Réf ABG-102160 Stage master 2 / Ingénieur Durée 5 mois Salaire net mensuel ~590 06/01/2022 LISN Lieu de travail Orsay Ile-de-France France Champs scientifiques * Informatique Mots clés Computer Networks, Approximate Consensus; Wireless Networked Robots; Distributed Algorithms Date limite de candidature 18/02/2022 ÉTABLISSEMENT RECRUTEUR SITE WEB : https://www.lisn.upsaclay.fr/ Le Laboratoire Interdisciplinaire des Sciences du Numérique - LISN- a été créé le 1 er janvier 2021 grâce à la coopération de 16 équipes de recherche du LIMSI et du LRI, et des services de soutien et support à la recherche, soit 380 personnes. Il est dirigé par Sophie Rosset et Johanne Cohen, toutes deux Directrices de Recherche au CNRS. Les forces de recherche du LISN couvrent d’une part des thématiques coeur des sciences du numérique et des sciences de l’ingénieur, et d’autre part des thématiques interdisciplinaires par nature : intelligence artificielle et science des données, interaction humain- machine, traitement automatique des langues et de la parole, et bio-informatique. DESCRIPTION The International Telecommunication Union (ITU) defines the Tactile Internet as an internet network that combines ultra low latency with extremely high availability, reliability and security that, in the end, allows remote teleoperation with the same perceived parameters as if it was local teleoperation. A network that adheres to tactile internet specification could present a remote object to a teleoperator with the same responsiveness and granularity as if it was locally available. In the world of machine-to-machine communications, the teleoperation is not only limited to classical applications like telesurgery or remote robotic wharehousing but also includes all the instances where entities composed by sensors and actuators exchange data that is then used to drive and operate themselves. A stark example of a tactile internet application is a fleet of autonomous drones, ground or flying, also a standard "use case" in the tactile internet specifications: to keep the formation a fleet of autonomous robots with high mobility need to apply algorithms that are often heavily reliant on exchanged data. Thanks to high mobility and the short time intervals involved, information delays and losses heavily impact local and global mission outcomes and for this reason the algorithms that leverage that information are created with fault tolerance capabilities independently of the assumptions on the underlying network. Consensus algorithms have been used for formation control in robotic networks: the robots try to minimize positioning error by finding the consensus upon an ideal formation using a distributed closed control loop that has components exploiting data exchanged over a network. Consensus is the task of agents agreeing on a common value. For control applications, it is often sufficient for the agreement to be approximate. The Approximate Consensus task can be solved by low-overhead algorithms, even in environments with dynamically changing communication topologies and faults. However, Consensus and Corrective Consensus variants are not yet integrated in Tactile Internet architecture. The goal of this internship is to investigate the integration of consensus algorithms into Tactile Internet by first reviewing the literature on the subject and then using both simulative solutions and real robots (all of them available in our laboratory) to compare the existing solutions. After having had a comprehensive but also quantitative view on what has been proposed, we will then try to create our integration proposal and test it again both numerically and by using real robots. PROFIL The candidate should have a solid background in computer science and computer networks. Some preliminary experience or knowledge in some of the related domains: distributed algorithms and approximate consensus (control theory), could be an asset. Anyhow the internship can be oriented according to the candidate skills and preferences. * ATTENTION: la date d'entrée en fonction est susceptible d'être modifiée en cas de besoins particuliers. PRISE DE FONCTION 01/04/2022