ICRA 2013
IEEE International Conference on Robotics and Automation
Karlsruhe, May 6 - 10, 2013

Workshop on Combining Task and Motion Planning

Combined task and motion planning is becoming increasingly important due to the recognition that a diverse set of applications — e.g., navigation, manipulation, search-and-rescue, game design, air-traffic control, and surgical procedures — involve reasoning with both discrete actions and continuous motions. The problem poses unique computational challenges: a vast hybrid discrete/continuous space must be searched while accounting for complex geometries, physical constraints, motion dynamics, collision avoidance, and robot-environment interactions. As a result, continued progress relies on an integrative approach that brings together techniques from robotics, AI, machine learning, logic, and hybrid systems.

Objectives

This full-day workshop aims to bring together researchers from Robotics and AI. The workshop will highlight recent progress in the area of combined discrete and motion planning and discuss open challenges and directions for future research. It also aims to promote a continuing dialog between theoretical innovations, practical applications, and success stories. The workshop is expected to be beneficial to a wide audience as planning plays a central role in robotics and automation.

The workshop aims to spark vibrant discussion with talks from invited speakers, presentations from authors of accepted papers, and a poster session.

Invited Speakers

Rachid Alami
Directeur de Recherche CNRS
Robotics and Artificial Intelligence Group
LAAS/CNRS, France
Maria Fox
Professor of Computer Science
Department of Informatics
King's College London
Emilio Frazzoli
Associate Professor of Aeronautics and Astronautics
Department of Aeronautics and Astronautics
MIT
Leslie Pack Kaelbling
Panasonic Professor of Computer Science and Engineering
Department of Electrical Engineering and Computer Science
MIT
Satyandra Gupta
Professor, University of Maryland and
Program Director, National Science Foundation
Bernhard Nebel
Professor, Institut für Informatik
Albert-Ludwigs-Universität Freiburg
University of Freiburg
Wheeler Ruml
Associate Professor
Department of Computer Science
University of New Hampshire

Program and Schedule

    08:30 - 08:35welcome
    08:35 - 09:00paper presentation (Schüller, Patoglu, Erdem)
    09:00 - 09:30invited talk (Fox)
    09:30 - 10:00invited talk (Ruml)

    10:00 - 10:30coffee break

    10:30 - 11:00invited talk (Gupta)
    11:00 - 11:30invited talk (Alami)
    11:30 - 12:00invited talk (Frazzoli)
    12:00 - 12:25paper presentation (McMahon, Plaku)
    12:25 - 12:50paper presentation (Park, Pan, Manocha)

    12:50 - 14:00lunch break

    14:00 - 14:25paper presentation (Okada, Kakiuchi, Azuma, Mikita, Murase, Inaba)
    14:25 - 15:30poster presentations
    (Schneider, Hocgeschwender)
    (Aldahak, Seneviratne, Dias)
    (Denny, Shi, Amato)
    (Littlefield, Li, Bekris)
    (Dobson, Bekris)

    15:30 - 16:00coffee break

    16:00 - 16:30invited talk (Kaelbling)
    16:30 - 17:00invited talk (Nebel)
    17:00 - 17:25 paper presentation (Agha-Mohammdi, Chakravorty, Amato)
    17:25 - 17:50paper presentation (Gaschler, Petrick, Kroger, Knoll, Khatib)

    17:50 - 18:15open forum discussion among participants on
    progress, challenges, and directions for future research

Accepted Papers

Accepted Posters

Workshop Organizers

Erion Plaku
Assistant Professor
Department of Electrical Engineering and Computer Science
Catholic University of America
email: plaku/AT/cua.edu
Kris Hauser
Assistant Professor
School of Informatics and Computing
Indiana University at Bloomington
email: hauserk/AT/indiana.edu