Master Thesis - Multi-session global traversability Mapping for Autonomous Outdoor Navigation

Fraunhofer-Gesellschaft; Stuttgart; Vor Ort; EUR 60.000 - 80.000; Vollzeit

Zusammenfassung

A leading research institution is seeking a student to design an algorithm for multi-session traversability mapping of outdoor environments. You will evaluate mapping configurations and implement solutions in ROS2 and C++. This position offers hands-on experience with cutting-edge technology in robotics and opportunities to apply your own ideas while working in a collaborative atmosphere in Stuttgart.

Leistungen

Cutting-edge technology in outdoor mobile robotics

Hands-on experience with robots in Stuttgart

Familiar atmosphere including Cake Thursday

Qualifikationen

• You should be a student at a German institution.
• Strong foundation in computer science or related fields required.
• Knowledge of ROS is beneficial.

Aufgaben

• Design an algorithm for long-term multi-session traversability mapping.
• Evaluate mapping configurations focusing on submap-based approaches.
• Implement the solution in ROS2 C++ navigation stack.

Kenntnisse

Programming knowledge and experience with C/C++

Enthusiasm for mobile robotics

Analytical mindset

Fluent in English or German

Ausbildung

Student enrolled at a German institution

Background in Computer Science, Software Engineering, Mechatronics or similar

Tools

ROS

Jobbeschreibung

Advertisement for the field of study such as:

Automation technology, electrical engineering, computer science, cybernetics, mechanical engineering, mechatronics, control engineering, software design, software engineering, technical computer science or comparable.

In the Professional Service Robots - Outdoor research group we develop autonomous, mobile robots for a variety of outdoor applications, such as agriculture, forestry and logistics. The focus is on the development of an autonomous outdoor navigation solution as well as the hardware of the robots.

For mobile robots operating in outdoor, unstructured environments with unknown terrain conditions, maintaining a consistent, global traversability map is essential. Such a map allows the robot to plan long-range, environment-aware routes and avoid obstacles effectively over extended distances.

For this purpose, it is essential to develop a robust mapping algorithm, that allows for continuous, online map growth during exploration and mapping operations. The map architecture must be optimized for memory efficiency, and it must incorporate effectively localization information and uncertainty, allowing for loop-closure corrections to reposition and align all maps generated throughout the robot’s trajectory.

Additionally, in large and dynamic agricultural environments, it is often impractical to completely map the environment in a single session. Therefore, the mapping architecture needs to allow for multi-session mapping, where the robot incrementally builds and corrects its map over several missions. It must ensure accurate integration of newly explored areas and continuously update traversed regions, to correct previous mapping errors and adapt to environmental changes.

Be part of change

In this thesis, you will design the algorithm to perform long-term, multi-session traversability mapping of static environments. You will evaluate different mapping configurations, focusing on submap-based approaches, which divide the environment into smaller, independent submaps. In particular, you will evaluate how to relate, update and merge these maps along the robot’s trajectory to support multi-session mapping. You will also ensure that the mapping architecture can support loop closure corrections detected by an external localization module.

You will then implement your solution inside our ROS2, C++ navigation stack and integrate it with existing components such as the LiDAR-Inertial localization module. Its performance will then be tested both in simulation and in real-world scenarios with our mobile CURT robots.

What you contribute

• Student enrolled at a German institution
• Background in Computer Science, Software Engineering, Mechatronics or similar
• Programming knowledge and experience with C/C++
• Experience with ROS is a plus
• Analytical mindset
• Enthusiasm for mobile robotics
• Fluent in English or German

What we offer

• Cutting-edge technology in the field of outdoor mobile robotics
• Hands on with our robots in Stuttgart
• Take on responsibility and freedom to implement your own ideas
• Work with the best students in their discipline
• Familiar atmosphere including Cake Thursday

We value and promote the diversity of our employees' skills and therefore welcome all applications – regardless of age, gender, nationality, ethnic and social origin, religion, ideology, disability, sexual orientation and identity. Severely disabled persons are given preference in the event of equal suitability. Our tasks are diverse and adaptable – for applicants with disabilities, we work together to find solutions that best promote their abilities. The same applies if they do not meet all the profile requirements due to a disability.

With its focus on developing key technologies that are vital for the future and enabling the commercial utilization of this work by business and industry, Fraunhofer plays a central role in the innovation process. As a pioneer and catalyst for groundbreaking developments and scientific excellence, Fraunhofer helps shape society now and in the future.

Ready for a change? Then apply now and make a difference! Once we have received your online application, you will receive an automatic confirmation of receipt. We will then get back to you as soon as possible and let you know what happens next.

Ms. Jennifer Leppich

Recruiting

[phone]

[e-mail]

Fraunhofer Institute for Manufacturing Engineering and Automation IPA

www.ipa.fraunhofer.de

Requisition Number: 82291 Application Deadline: