Technische Universität München Robotics and Embedded Systems
 

Workshop on Task Planning for Intelligent Robots in Service and Manufacturing

 
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Workshop on Task Planning for Intelligent Robots in Service and Manufacturing

Type and duration Full-day workshop at 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems
Organizers Andre Gaschler, Ronald Petrick, Esra Erdem
Location Saal 12

Important Dates

Paper submission deadline Friday, July 17th, 2015 (closed) Friday, July 10th, 2015
Author notification Friday, August 7th, 2015
Camera-ready paper submission Friday, August 28th, 2015
Workshop date Friday, October 2nd, 2015

Abstract

One of the main motivations for robot task planning is to allow intelligent robots to solve complex, real-world tasks in service and industry. While many of the components needed for building such a system have each made substantial progress in recent years---symbolic reasoning, path planning, grasp planning, and trajectory generation---and powerful algorithms for solving problems in individual areas are available, the general problem of robot task planning nevertheless remains a challenge. One reason for this difficulty is that realistic task planning problems require a hybrid search in the combined symbolic action and continuous motion spaces. Only recently, has this problem started to receive substantial attention in the two distinct communities of symbolic AI planning and robot motion planning, which have started working on hybrid approaches aimed at solving hard, real-world tasks in service and manufacturing robotics. This workshop invites participants from symbolic planning, robot motion planning, and related fields of research to share their ideas and findings, and to foster cooperation towards the common scientific goal of intelligent robot systems.

Call for Papers

We invite workshop papers (up to six pages) and live software system demonstrations. Contributions should apply task planning and artificial intelligence to intelligent robot systems. Especially welcome are works with an application to service and manufacturing tasks, and works that integrate approaches from the two fields AI and robotics. Therefore, the topics of interest include:

Papers can be submitted on the website https://easychair.org/conferences/?conf=taskplan2015iros. A submission should be no longer than six pages, formatted following the IEEE format, and uploaded as PDF files (max. 5 MB) until the workshop paper deadline. All papers will go through a single-blind peer review with at least two reviewers.

Software system demonstrations can be proposed informally by email to Andre Gaschler (gaschler@cs.tum.edu) including a description (no more than 200 words) and a screenshot until the end of August. Accepted software demos will be part of an interactive session, where presenters may show their most recent developments live on screen.

Invited Speakers

Speaker Title
Tomás Lozano-Pérez
Learning & Intelligent Systems Group, Massachusetts Institute of Technology, USA
"Integrated Task and Motion Planning in Belief Space"  
Siddharth Srivastava
United Technologies Research Center, Berkeley, USA
"Integrated Task and Motion Planning with Lossy Abstractions"  
Gerhard Lakemeyer
RWTH Aachen University, Germany
"Planning for robots in factory automation"  
Volker Krüger
Aalborg University, Denmark
"Planning logistic tasks of mobile manipulators within two industrial use-cases"
Dinesh Manocha
University of N. Carolina, Chapel Hill, USA
"When can we use realtime motion planning for industrial robots?"  

Schedule

(subject to change)

Time Program Speaker/Author Title of the talk
08:30 Welcome Organisers  
08:40 Invited Talk Dinesh Manocha When can we use realtime motion planning for industrial robots?
09:25 Paper presentations Mikkel Rath Pedersen and Volker Krueger Automated Planning of Industrial Logistics on a Skill-equipped Robot
    Behnam Asadi Single and Dual Arm Manipulator Motion Planning Library
    George Mesesan, Esra Icer and Matthias Althoff Hierarchical Genetic Path Planner for Highly Redundant Manipulators
10:00 Coffee    
10:30 Paper presentations Zeyn Saigol, Bram Ridder, Minlue Wang, Richard Dearden, Maria Fox, Nick Hawes, David Lane and Derek Long Efficient Search for Known Objects in Unknown Environments Using Autonomous Indoor Robots
    Matthew Crosby and Ron Petrick Mission Planning for a Robot Factory Fleet
11:15 Invited Talk Tomás Lozano-Pérez Integrated Task and Motion Planning in Belief Space
12:00 Lunch    
13:30 Invited Talk Volker Krüger Planning logistic tasks of mobile manipulators within two industrial use-cases
14:15 Paper presentations Krishnanand Kaipa, Shaurya Shriyam, Nithyananda-Bhat Kumbla and Satyandra Gupta Automated Plan Generation for Robotic Singulation from Mixed Bins
    Krishnanand Kaipa, Nithyananda Kumbla and Satyandra Gupta Characterizing Performance of Sensorless Fine Positioning Moves in the Presence of Grasping Position Uncertainty
14:40 Software System Demonstration Weiwei Wan Developing single and dual-arm sequential manipulation using the regrasp graph
14:55 Coffee    
15:25 Invited Talk Siddharth Srivastava Integrated Task and Motion Planning with Lossy Abstractions
16:10 Paper presentations Alexander Ferrein, Christopher Maier, Clemens Mühlbacher, Tim Niemueller, Gerald Steinbauer and Stavros Vassos Controlling Logistics Robots with the Action-based Language YAGI
    Stefan Edelkamp, Erion Plaku, Christoph Greulich and Mihai Pomarlan Solving the Inspection Problem via Colored Traveling Salesman Tours
16:55 Invited Talk Gerhard Lakemeyer Planning for robots in factory automation
17:35 Open Forum Discussion Everybody  
18:00 Farewell    

Accepted Papers

Proceedings of all papers (one pdf file, 13 MB)

Authors Title
Mikkel Rath Pedersen and Volker Krueger Automated Planning of Industrial Logistics on a Skill-equipped Robot
George Mesesan, Esra Icer and Matthias Althoff Hierarchical Genetic Path Planner for Highly Redundant Manipulators
Alexander Ferrein, Christopher Maier, Clemens Mühlbacher, Tim Niemueller, Gerald Steinbauer and Stavros Vassos Controlling Logistics Robots with the Action-based Language YAGI
Zeyn Saigol, Bram Ridder, Minlue Wang, Richard Dearden, Maria Fox, Nick Hawes, David Lane and Derek Long Efficient Search for Known Objects in Unknown Environments Using Autonomous Indoor Robots
Stefan Edelkamp, Erion Plaku, Christoph Greulich and Mihai Pomarlan Solving the Inspection Problem via Colored Traveling Salesman Tours
Matthew Crosby and Ron Petrick Mission Planning for a Robot Factory Fleet
Behnam Asadi Single and Dual Arm Manipulator Motion Planning Library
Krishnanand Kaipa, Shaurya Shriyam, Nithyananda-Bhat Kumbla and Satyandra Gupta Automated Plan Generation for Robotic Singulation from Mixed Bins
Krishnanand Kaipa, Nithyananda Kumbla and Satyandra Gupta Characterizing Performance of Sensorless Fine Positioning Moves in the Presence of Grasping Position Uncertainty

Organizers

Andre Gaschler (corresponding organizer)
fortiss An-Institut Technische Universität München
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Ron Petrick
School of Informatics, University of Edinburgh
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Esra Erdem
Computer Science and Engineering, Sabancı University
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Program Committee

Vaishak Belle (University of Toronto), Christian Dornhege (Univ Freiburg), Fredrik Heintz (Linköping University), Andreas Hertle (Univ Freiburg), Ingmar Kessler (fortiss), George Konidaris (Duke), Morteza Lahijanian (Rice University), Daniel Leidner (DLR), Alexander Perzylo (fortiss), Erion Plaku (Catholic University of America), Markus Rickert (fortiss), Moritz Tenorth (University of Bremen), Hao Zhang (Colorado School of Mines)