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CIFRE Thesis (PhD): Integration of wireless network characteristics in the design of cloud-based robot controllers (Nokia-INRIA collaboration)

Pure Research
ST Strategy & Technology
23000000ED Requisition #

Come create the technology that helps the world act together


Nokia is committed to innovation and technology leadership across mobile, fixed and cloud networks. Your career here will have a positive impact on people’s lives and will help us build the capabilities needed for a more productive, sustainable, and inclusive world.

We challenge ourselves to create an inclusive way of working where we are open to new ideas, empowered to take risks and fearless to bring our authentic selves to work.


The team you'll be part of


Nokia Bell Labs is the world-renowned research arm of Nokia, having invented many of the foundational technologies that underpin information and communications networks and all digital devices and systems. This research has produced nine Nobel Prizes, five Turing Awards and numerous other awards.

The Nokia Bell Labs ISE Lab (Integrated Solutions and Experiences) is responsible for researching, designing, building, integrating, and delivering disruptive and best-in-class solutions and experiences that leverage the Bell Labs Research assets and innovations across multiple complex technology areas. We are looking for a strong and enthusiastic person with background, experience, and interests in RF networks and platforms to join a growing research group in Bell Labs that conducts research in distributed and networked control of autonomous robots.


What you will learn and contribute to


Wireless network communication is a crucial enabler of using cloud infrastructure for real-time control and coordination of industrial robotics. It provides almost unlimited computing resources, a high level of resource sharing, and increased system flexibility. However, ensuring the safety and performance of such industrial solutions requires ultra-low latency and ultra-reliable (URLLC) wireless communication. Although providing reliable connectivity for industry 4.0 is the promise of 5G and beyond, delivering guaranteed and reliable wireless service requirements for real-time wireless control (e.g., URLLC) has proven costly and inefficient, given the dynamicity and unpredictability of industrial environments.

As a part of the collaboration between Nokia Bell labs and Inria, the student will conduct research at Nokia networks France in the Nokia Bell Labs and Inria Valse teams.


Job Responsibilities

The thesis aims to design control and estimation algorithms that relax network latency and reliability requirements while ensuring the safety of the autonomous robotics applications in which the controller (motion control units) and the perception systems are located in the edge cloud. We address mobile robots as the primary target.

The expected results are the following:

  • Designing control and estimation algorithms by considering network-influenced variables (e.g., time-varying delay, packet loss, etc.)
  • Deriving mitigation methods to eliminate or reduce the influence of the network fluctuation in causing instability of the system
  • Demonstration of developed control/estimation algorithms and mitigation methods in real setups
  • Deriving additional metrics, combinations, or variations of existing metrics adapted for a communication system as Quality of Service metrics to abstract cloud-controller service.



Mobile robots, Network control and estimation, Delay compensation



  • Voortman Q., Efimov D., Pogromsky A. Yu., Richard J.-P., Nijmeijer H. An Event-Triggered Observation Scheme for Systems with Perturbations and Data-Rate Constraints. Automatica, 145(11), 2022, pp. 110512
  • Bobtsov A., Ortega R., Efimov D., Nikolaev N., Bezzubov V. Adaptive State Observation of Linear Time-Varying Systems with Delayed Measurements and Unknown Parameters. International Journal of Robust and Nonlinear Control, 2022
  • dos Reis de Souza A., Efimov D., Raïssi T. Robust output feedback MPC of time-delayed systems using interval observers. International Journal of Robust and Nonlinear Control, 2021
  • Silm H., Ushirobira R., Efimov D., Fridman E., Richard J.-P., Michiels W. Distributed observers with time-varying delays. IEEE Trans. Automatic Control, 66(11), 2021, pp. 5354–5361

Your skills and experience


  • Control theory
  • Strong software development skills 
  • Basis understanding of network systems


What we offer


Nokia offers flexible and hybrid working schemes, continuous learning opportunities, well-being programs to support you mentally and physically, opportunities to join and get supported by employee resource groups, mentoring programs and highly diverse teams with an inclusive culture where people thrive and are empowered.


Nokia is committed to inclusion and is an equal opportunity employer


Nokia has received the following recognitions for its commitment to inclusion & equality:

  • One of the World’s Most Ethical Companies by Ethisphere
  • Gender-Equality Index by Bloomberg
  • Workplace Pride Global Benchmark
  • LGBT+ equality & best place to work by HRC Foundation

At Nokia, we act inclusively and respect the uniqueness of people.


Nokia’s employment decisions are made regardless of race, color, national or ethnic origin, religion, gender, sexual orientation, gender identity or expression, age, marital status, disability, protected veteran status or other characteristics protected by law.
We are committed to a culture of inclusion built upon our core value of respect.

Join us and be part of a company where you will feel included and empowered to succeed.


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Nokia is an equal opportunity employer that is committed to diversity and inclusion. At Nokia, employment decisions are made regardless of race, color, national or ethnic origin, religion, gender, sexual orientation, gender identity or expression, age, marital status, disability, protected veteran status or other characteristics protected by law.