30 credits - Formation Control Strategy for Autonomous Snow Clearance

Sodertalje, Stockholm
den 4 oktober 2019
den 24 november 2019
Övriga jobb
A thesis project at Scania is an excellent way of making contacts for your future working life. Many of our current employees started their career with a thesis project.

Autonomous driving is a widely studied topic that has gained a lot of interest both in the scientific and industrial community: there are more and more advanced driver assistance functions on the market and we will see fully autonomous vehicles on the road in the near future. Industries started developing and introducing autonomous systems in geographically confined environments, where regulations and requirements are less restrictive. These industries include, but are not limited to, agriculture, manufacturing, logistics, commercial freight transport, and mining.

Often, the execution of multiple vehicle missions requires that the vehicles move in coordination while holding a desired geometrical formation pattern. As an example, we can consider the snow clearance problem in airports or the task of harvesting salt in a mine. The goal of this master thesis is to address the topic of cooperative motion control of autonomous heavy duty vehicles. More specifically, we want to address the formation control problem in the leader-follower scheme, in which the followers must keep a desired relative distance with respect to the leader trajectory, taking into account collision avoidance in dynamic environments.

The assignment is divided into the following sub-tasks: 1. Evaluate current state of the art; 2. Design and implement a collision prediction method; 3. Propose and implement a collision avoidance method based on 2.; 4. Integrate 3. into a cooperative mission control architecture; 5. Test the work in simulation and/or in real experiments using research vehicles;

Master (civilingenjör) in computer science, engineering physics, electrical engineering, or applied mathematics, preferably with specialization in control theory, machine learning and identification, optimal control or optimization. Knowledge of programming and predictive modeling are a plus.
Number of students: 1-2
Start date: January 2020
Estimated time needed: 20 weeks

Contact persons and supervisors:
Laura Dal Col, Development Engineer in Autonomous Motion, , 08 - 553 851 20

Christoffer Norén, Senior Engineer in Autonomous Motion, , 08 - 553 811 48

Enclose CV, cover letter and transcript of records.

Scania is a world-leading provider of transport solutions. Together with our partners and customers we are driving the shift towards a sustainable transport system. In 2018, we delivered 88,000 trucks, 8,500 buses as well as 12,800 industrial and marine engines to our customers. Net sales totalled to over SEK 137 billion, of which about 20 percent were services-related. Founded in 1891, Scania now operates in more than 100 countries and employs some 52,000 people. Research and development are concentrated in Sweden, with branches in Brazil and India. Production takes place in Europe, Latin America and Asia, with regional production centres in Africa, Asia and Eurasia. Scania is part of TRATON SE. For more information visit:

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