[robotics-worldwide] CALL FOR PAPERS: ICAPS'09 Workshop on Bridging The Gap Between Task And Motion Planning

Conor McGann mcgann at willowgarage.com
Wed Apr 15 16:20:24 PDT 2009

ICAPS'09 Workshop on Bridging The Gap Between Task And Motion Planning

September 19/20, 2009 in Thessaloniki, Greece (co-located with 19th
International Conference on Automated Planning and Scheduling)

June 23, 2009: Submission deadline for papers for all workshops
July 22, 2009: Notification of accept/reject for workshop submissions
September 19 or 20, 2009: Workshop

Maxim Likhachev, University of Pennsylvania
Bhaskara Marthi, Willow Garage Inc.
Conor McGann, Willow Garage Inc.
David E. Smith, NASA Ames Research Center

It has been a longstanding goal of AI and robotics to build autonomous
vehicles that can move around on land, in the sea, and in the air and
interact with the physical world to achieve their goals. In recent years,
the increasing availability of capable mobile platforms (ground vehicles,
submersibles, small helicopters and small UAVs), manipulators, and
high-precision sensors, coupled with advances in perception, localization
and planning algorithms, have brought us much closer to achieving this goal.
Robotic platforms have demonstrated autonomous navigation in large complex
spaces for prolonged periods of time while robotic manipulators have
demonstrated autonomous manipulation of objects in cluttered spaces.

However, effective, task-oriented motion inevitably requires a principled
approach to integrating task planning and motion planning that is capable of
operating in real-time in dynamic and complex environments. Historically,
general but discrete task planning has been considered extensively in the AI
community while specialized continuous motion planning has been the focus in
robotics. The goal of this workshop is to encourage the interaction of ideas
between researchers in these fields, to make researchers in one community
aware of the research issues faced by those in the other, to find synergy in
the research approaches, and to establish promising directions for future
research on task and motion planning integration.

The topics of interest include (but are not limited to) the following:
   *  Combining geometric, kinematic, and dynamic constraints with
reasoning about tasks, time and resources
   *  Integration of discrete and continuous representations
   *  Efficient planning in high-dimensional continuous spaces
   *  Hierarchical/multi-level planning architectures
   *  Incremental techniques for online motion and task planning
   *  Techniques for integrating task and manipulation planning
   *  Planning with compliant motion
   *  Planning for cooperative manipulation by multiple effectors
   *  Planning for whole body control

We encourage papers that demonstrate results for task achievement in either
simulation or on real mobile platforms.

Papers should conform to the AAAI style guide, with a maximum length of 10
pages (8 pages preferred). We also welcome the submission of 2-3 page
position papers.

Limited travel funding from Willow Garage will be available to presenters
based on merit and need.

Rachid Alami, LAAS/CRNS
Michael Beetz,  Technische Universitaet Muenchen
Wolfram Burgard, University of Freiburg
Sachin Chitta, Willow Garage
Rosen Diankov, Carnegie Mellon University
Minh Do, Xerox PARC
Alberto Finzi, University di Roma ``La Sapienza''
Brian Gerkey, Willow Garage
Kaijen Hsiao, Massachusetts Institute of Technology
Ari Jonsson, University of Reykyavik
Lydia Kavraki, Rice University
Sven Koenig, University of Southern California
Jean-Claude Latombe, Stanford University
Tomas Lozano Perez, Massachusetts Institute of Technology
Nico Meuleau, NASA
Roland Phillipsen, Stanford University
Ioan Sucan, Rice University
David Wettergreen, Carnegie Mellon University
Jason Wolfe, University of California, Berkeley

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