Mobility assistance in large scale environments
PhD type sandwich thesis between France and Vietnam
Laboratory 1 Laboratory 2

MICA Institute

Hanoi University of Science and Technology

1 Dai Co Viet str.



e-Motion team - INRIA/LIG

INRIA Rhône-Alpes

655 av. de l'Europe

38330 Montbonnot


Supervisors Pr Eric Castelli - eric.castelli at
Dr Dao Trung Kien - trung-kien.dao at
  Dr Anne Spalanzani - Anne.Spalanzani at
Subject In large scale environments, people do not move randomly and each has its own habits. Some people prefer to navigate in crowded environments, others in more desert environments. When it rains, people prefer to walk in protected environments and when it gets too hot, the shaded areas are favored.
The aim of this thesis is to propose robotic navigation technologies that transport people while respecting their preferences and habits. Various navigation tasks can be considered such as reaching a destination or a person. The robotic platform can be the Inria robotic wheelchair or a companion robot.
This implies to have an enriched map of the environment with a description of places characteristics. This implies also to localize the robot and people in a large scale environment and finally propose an efficient planning and navigation method taking into account social conventions and user’s habits.

Results are expected in simulation using ROS and Stage but also in real environments (Hanoi campus or inria institute).
Skills required Good programming in C++. ROS librairies ( and algorithms developed in the team will be used.
Biblio [1] C. Tay. “Analysis of dynamics scenes: application to driving assistance,”PhD Thesis, INRIA, France, 2009.
[2] C. Fulgenzi. “Autonomous navigation in dynamic uncertain environment using probabilistic models of perception and collision risk prediction”, PhD Thesis, INPG, France, 2009.
[3] Human Aware Navigation for Assistive Robotics, International Symposium on Experimental Robotics (ISER), Quebec, Canada, june 2012 (Vasquez D., Stein P., Rios-Martinez J., Escobedo A., Spalanzani A., Laugier C)
[4] Bell, G. and Dourish, P. (2007) Yesterday's Tomorrows: Notes on Ubiquitous Computing's Dominant Vision. Personal and Ubiquitous Computing, 11(2), 133-143.
[5] Becker, C., Durr, F., On location models for ubiquitous computing, J. on Personal and Ubiquitous Computing, 9(1), pp. 20-31, 2005.
[6] K.A. Nuaimi, A survey of indoor positioning systems and algorithms, in: 2011 Int. Conf. on Innovations in Information Technology, United Arab Emirates,2011, 185-190.