[robotics-worldwide] Reminder: AAAI 2010 Workshop on Bridging the Gap between Task and Motion Planning

Bhaskara Marthi bhaskara at gmail.com
Mon Mar 29 18:52:41 PDT 2010

AAAI 2010 Workshop on Bridging The Gap Between Task And Motion Planning

July 11/12 at the AAAI 2010 conference in Atlanta, USA.

April 10: Submission deadline
April 21: Notification of accept/reject for all submissions
May 4: Camera-ready Copy Due

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
interacting with the physical world to achieve their goals. In recent
years, the increasing availability of capable mobile platforms,
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 investigate principled approaches to bridging the gap
between these two levels of planning, to foster the exchange of ideas
between the two communities of researchers, and to work towards developing
common benchmarks and an infrastructure for evaluating the approaches to
this problem.

With this goal in mind, we solicit two classes of contributions on the
topics that include (but are not limited to) the following:

Technical submissions:
- Combining kinematic and dynamic constraints with reasoning about tasks,
time, and resources.
- Integration of discrete and continuous problem representations.
- Hierarchical/multi-level planning architectures.
- Incremental techniques for online planning.
- Techniques for integrating task and manipulation planning.
- Planning for compliant motion and motion primitives.
- Planning for cooperative manipulation with multiple effectors.
- Whole body control.
- Interfaces between motion and task planners

Submissions devoted to approaches to benchmarking:
- Benchmark domains of interest
- Simulation frameworks, or software libraries related to planning
- An infrastructure for evaluating approaches

The submissions may be up to eight pages in length, and should follow AAAI
formatting guidelines. We also welcome shorter (as short as two-page)
submissions such as position papers, papers discussing/proposing common
benchmarks, and papers discussing/proposing infrastructure for evaluating
approaches to solving problems that combine task and motion planning.


Michael Beetz
Wolfram Burgard
Maria Fox
Kaijen Hsiao
Felix Ingrand
Lydia Kavraki
Sven Koenig
Hadas Kress-Gazit
David Kourtenkamp
Jean-Claude Latombe
Tomas Lozano Perez
Roland Phillipsen

Bhaskara Marthi
Research Scientist
Willow Garage Inc.

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