One or more Postdocs in Collaborative Control of Tethered USV–UUV Systems for Offshore Inspection

At the Faculty of Engineering and Science, AAU Energy, a 3-year Postdoc position is available. The position is offered in relation

to the research group Underwater Technology, and the Postdoc will be positioned in the Esbjerg Energy section. The position is

part of the ABBA USV – Above and Below Autonomous Unmanned Systems project and is open for appointment from 1 March, 2027 or as

soon as possible thereafter. The ABBA USV project addresses the growing need for autonomous and remotely operated robotic systems

for offshore inspection, maintenance, repair and surveillance. The project develops collaboration between unmanned surface

vehicles (USVs), unmanned underwater vehicles (UUVs) and unmanned aerial vehicles (UAVs), with the USV acting as a central

platform for transportation, communication, power supply and coordination of the other vehicles. The project combines autonomous

navigation, collaborative control, and experimental validation to enable efficient offshore operations with reduced dependence on

large support vessels and offshore personnel. The Postdoc will primarily focus on collaborative control of a tethered USV–UUV

system for inspection of offshore infrastructure. The tether enables continuous power and high-bandwidth communication between the

vehicles but introduces strong dynamic coupling, constraints and safety challenges that must be explicitly considered in the

control architecture. Postdoc Focus Area: Collaborative Control of Tethered USV–UUV Systems The Postdoc project focuses on the

development and experimental validation of control for heterogeneous marine robots that are physically coupled through a tether.

The overall goal is to enable a USV and UUV to operate as a coordinated robotic system for inspection and monitoring of offshore

infrastructure such as subsea cables, pipelines and offshore wind structures. The research will consider two complementary

operational modes: Towed Mode: The USV provides the primary propulsion and transports the UUV along long-range subsea

infrastructure. The UUV carries sensors for detecting and following the infrastructure and performs local corrective manoeuvres.

This creates a system in which sensing authority is concentrated at the UUV while the dominant propulsion authority is located at

the USV. The project will investigate collaborative and predictive control strategies in which information obtained by the UUV can

influence the future trajectory of the USV. Inspection Mode: The UUV uses its own thrusters to manoeuvre around offshore

structures while remaining connected to the USV. The USV must coordinate its motion with the UUV to maintain favourable tether

geometry, avoid excessive tether forces and support safe inspection close to structures. The project will investigate how

modelling and control can be integrated to coordinate the two vehicles while accounting for heterogeneous vehicle dynamics,

environmental disturbances and the physical constraints introduced by the tether. Key research tasks could include:

• Modelling of

coupled USV–UUV systems: Developing multi-physical dynamics modelling and control-oriented models of the USV, UUV and tether,

including relevant hydrodynamic effects, environmental disturbances and vehicle–tether interactions. The work may include

reduced-order models suitable for real-time control as well as higher-fidelity models for simulation and validation. -

Collaborative control for Towed Mode: Developing control strategies for precision path following of a tethered UUV during

high-speed or long-range surveys. Particular attention will be given to the split between sensing and actuation authority, where

underwater sensing from the UUV is used to influence USV guidance and trajectory generation. - Predictive coordination for

Inspection Mode: Developing collaborative or shared-horizon predictive-control methods in which future USV and UUV motion is

considered jointly. The work may include Model Predictive Control (MPC), robust control, distributed or centralized optimisation,

and other model-based approaches suitable for heterogeneous marine vehicles. - Interaction and disturbance estimation:

Investigating state, disturbance and interaction estimation methods that provide information about uncertain hydrodynamics,

tether-induced effects and coupled vehicle motion. Relevant approaches may include nonlinear observers, robust estimation, sensor

fusion and data-assisted modelling. - Safety-critical control and constraint handling: Developing strategies to maintain safe

operation while respecting tether tension, relative vehicle configuration, actuator limitations, collision avoidance and

tether-to-structure clearance. Methods may include constrained predictive control, Control Barrier Functions or related

safety-critical control techniques. - Digital twin and simulation environments: Developing and using simulation or digital-twin

environments to evaluate collaborative-control strategies under repeatable conditions before implementation on physical systems.

Simulations will include relevant marine disturbances, tether behaviour, vehicle dynamics, sensor behaviour and offshore mission

scenarios. - Experimental and field validation: Implementing and evaluating the developed algorithms on robotic platforms

available through AAU and the ABBA project. Validation may include software- and hardware-in-the-loop testing, controlled pool

experiments, harbour trials and offshore demonstrations. Relevant performance metrics may include trajectory-tracking accuracy,

tether tension, minimum tether-to-structure distance, control effort, computational performance, operational workspace and mission

success. The Postdoc will work closely with researchers, PhD students and industrial partners in the ABBA consortium and is

expected to contribute to the integration and demonstration of the developed methods on the project’s robotic platforms.

Qualifications and Skills Applicants should have a strong academic background and hold a PhD degree, or equivalent, in a relevant

engineering field, such as control engineering, robotics, automation, electrical engineering, mechatronics, marine engineering,

mechanical engineering or similar. The ideal candidate will have skills such as:

• Control and dynamic systems: A strong

background in control theory, dynamic modelling and autonomous systems. Experience with robust control, Model Predictive Control,

nonlinear control, state estimation, trajectory tracking, path following or multi-agent control is highly valued. - State and

disturbance estimation: Knowledge of observer design, state estimation, disturbance estimation, sensor fusion or related methods.

Experience with nonlinear or robust estimation techniques is an advantage. - Robotics and autonomous systems: Experience with

mobile robots, autonomous vehicles, multi-agent systems or marine robotics. Previous experience specifically with underwater or

surface vehicles is advantageous but not required. - Technical computing skills: Strong programming and modelling skills, for

example in MATLAB/Simulink, Python, C++, ROS, Gazebo or similar simulation and robotics frameworks. Experience with optimisation

software, digital twins or experimental data analysis is an asset. - Experimental and fieldwork experience: Previous experience

with robotic platforms, hardware implementation, real-time control, experimental testing or field trials is considered an

advantage. The candidate should be motivated to work with practical robotic systems and participate in marine experiments. -

Scientific profile: A strong publication record in areas relevant to control, robotics, autonomous systems or related fields and

demonstrated ability to conduct independent research. - Soft skills: Excellent communication skills in English, both written and

oral. The candidate should be motivated, proactive and able to work independently as well as part of an interdisciplinary research

team. Department and Research Environment Aalborg University contributes to the knowledge building of the global society as well

as the development of prosperity, welfare, and culture of Danish society. This is accomplished through research, research-based

education, public sector services, and knowledge collaboration. AAU educates students for the future and activities are based on a

dynamic and transformative collaboration with the surrounding community. AAU Energy is a dynamic engineering research department

in continuous growth and inspiring surroundings. AAU Energy has a very international environment and covers all areas of clean and

sustainable energy systems of the future within electrical, thermal and mechatronic energy technology. AAU Energy has campuses in

both Aalborg and Esbjerg, this position is located in Esbjerg. The mission is to be world leading in both research and

research-based education of the energy engineers of the future. AAU Energy has approx. 300 employees of many nationalities, of

which 25 are administrative staff. In addition, AAU Energy constantly has approx. 50–70 guest researchers from around the world.

Research and teaching are in the absolute world elite in the field of energy, and we have extensive and leading workshop and

laboratory facilities, where research and innovation are carried out in direct collaboration with industry to a great extent. How

to apply and Application Requirements  As part of your application, you should submit a 1–2 page research statement outlining your

envisioned approach to the Postdoc project. In this document, please describe relevant state-of-the-art in collaborative control

of heterogeneous or physically coupled robotic systems, identify key research challenges and propose initial ideas for addressing

the project objectives, including a tentative research plan. - Your application must include the following:

• Application,

stating reasons for applying, qualifications in relation to the position, and intentions and visions for the position -

Curriculum Vitae (CV) - Diplomas (master's degree diploma and PhD diploma) - Copies or links to selected publications relevant

to the position max 5 - Documentation of teaching qualifications if relevant. - Dissemination qualifications, including

participation on committees or boards, participation in organisations etc. - Additional qualifications in relation to the

position - References/recommendations You can read more about the requirements for your application here.    The application

must be submitted via Aalborg University’s recruitment system, which can be accessed under the job advertisement on Aalborg

University's website.  Aalborg University wants to reflect the surrounding society and has diversity as a core value. Therefore,

everyone, regardless of personal background and orientation, is encouraged to apply for the position.  Aalborg University has a

policy of parallel language use. International staff are encouraged, with support from the university, to learn Danish during

their employment in order to support their integration into the workplace and Danish society. Danish language courses will be

offered as part of the employment. Do you have any questions?  If you have any questions about the position, you are more than

welcome to contact us. You will find contact persons at the bottom of the jobpost.     Further information  Read more about our

recruitment process here   The appointment process at Aalborg University involves a shortlisting process. You can read more about

the shortlisting and appointment process here.  The hiring process at Aalborg University may include a risk assessment as a tool

to identify potential risks associated with new hires, ensuring the safety, compliance, and integrity of the workplace.  Salary

and terms of employment The employment is in accordance with the Ministerial Order on the Appointment of Academic Staff at

Universities and the Ministerial Order on Job Structure for Academic Staff at Universities. Furthermore, your terms of employment

and salary are in accordance with the collective agreement between the Danish Confederation of Professional Associations and the

state (AC collective agreement) and protocol on certain terms of employment of academic staff at universities. You can find

information about the salary and salary structure for the position in the Salary Overview for Recruitment - Scientific positions

(VIP). Please refer to the introductory section of the page and the section entitled “Postdoc”. There is a mutual probationary

period of 3 months for the position.