Collocated with ICAPS 2019 in Berkeley, USA.
AI Planning & Scheduling (P&S) methods are crucial to enable intelligent robots to perform autonomous, flexible, and interactive behaviors, but a deep integration into robotic architectures is needed for their effective deployment. This requires a close collaboration between researchers from both the AI and the Robotics communities. In this direction, this workshop aims at constituting a stable, long-term forum where researchers from both the P&S and the Robotics communities can openly discuss about relevant issues, research and development progress, future directions and open challenges related to P&S when applied to Robotics. The PlanRob workshop is proposed in synergy with the ICAPS Robotic track. We are in contact with the Robotics Track organizers trying to explore different ways to synchronize with them. The PlanRob WS aims to maintain a more informal forum where also more preliminary/visionary works can be discussed stimulating direct and open interactions. Topics of interest include but not limited to the following:
Explainable Planning for Human-Robot Collaboration
As robots enter our homes and work places, there is a greater need for them work synergistically with humans. This requires the robots to exhibit behavior that is explainable to humans. Synthesizing such behavior requires the robots to reason not only with their own models of the task at hand, but also about the mental models of the human collaborators. Using several case-studies from our ongoing research, I will discuss how such multi-model planning forms the basis for explainable behavior for human-robot collaboration and teaming.
|8:50 -- 9:00||Introduction|
|09:00 -- 10:12||Task and Motion Planning|
|Minimum Time Validation for Hybrid Task Planning
Ayal Taitler, Ilya Ioslovich, Erez Karpas and Per-Olof Gutman.
|Planning in Stochastic Environments with Goal Uncertainty
Sandhya Saisubramanian, Kyle Wray, Luis Pineda and Shlomo Zilberstein.
|Task-Motion Planning with Reinforcement Learning for Adaptable Mobile Service Robots
Yuqian Jiang, Fangkai Yang, Shiqi Zhang and Peter Stone.
|Anytime Integrated Task and Motion Policies for Stochastic Environments
Naman Shah and Siddharth Srivastava.
|10:12 -- 10:30||Probabilistic Planning and Learning|
|Learning Critical Regions for Robot Planning Using Convolutional Neural Networks
Daniel Molina, Kislay Kumar and Siddharth Srivastava.
|10:30 -- 11:00||BREAK|
|11:00 -- 12:00||Probabilistic Planning and Learning (continued)|
|Planning Robot Motion using Deep Visual Prediction
Meenakshi Sarkar, Prabhu Pradhan and Debasish Ghose.
|Towards Learning Efficient Maneuver Sets for Kinodynamic Motion Planning (short paper)
Aravind Sivaramakrishnan, Zakary Littlefield and Kostas E. Bekris.
|Goal Recognition over Nominal Models
Ramon Fraga Pereira, Mor Vered, Felipe Meneguzzi and Miquel Ramírez.
|Adaptive Human-Aware Task Planning (short paper)
Matteo Leonetti, Luca Iocchi, Anthony G. Cohn and Daniele Nardi.
|12:00 -- 12:30||Robotics Applications|
|Desiderata for Planning Systems in General Purpose Service Robots (short paper)
Nick Walker, Yuqian Jiang, Maya Cakmak and Peter Stone.
|Multi-Vehicle Temporal Planning for Underwater Applications
Yaniel Carreno, Ronald P. A. Petrick and Yvan Petillot.
|12:30 -- 14:00||LUNCH|
|14:00 -- 15:12||Invited Talk + Q&A|
|15:12 -- 15:30||Robotics Applications (continued)|
|Autonomous Robotics Manipulation for In-space Intra-Vehicle Activity
Shaun Azimi, Emma Zemler and Robert Morris.
|15:30 -- 16:00||BREAK|
|16:00 -- 17:12||Robotics Applications (continued)|
|Energy-Aware Data Routing for Disruption Tolerant Networks in Planetary Cave Exploration
Tiago Stegun Vaquero, Martina Troesch, Marc Sanchez-Net, Jay Gao and Steve Chien.
|Scheduling with Complex Consumptive Resources for a Planetary Rover
Wayne Chi, Steve Chien and Jagriti Agrawal.
|Enabling Limited Resource-Bounded Disjunction in Scheduling
Jagriti Agrawal, Wayne Chi, Steve Chien, Gregg Rabideau, Stephen Kuhn and Daniel Gaines.
|Pathogen: Using Campaign Intent to Guide Onboard Planning for a Self-Reliant Rover
Joseph Russino, Daniel Gaines, Steve Schaffer and Vincent Wong.
|17:12 -- 18:12||Discussion and Concluding Remarks|