Planning and Robotics

An ICAPS 2018 Workshop
Delft, The Netherlands
June 26, 2018

Topics and Objectives

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:

  • planning domain representations for robotics applications;
  • mission, path, and motion planning for robots;
  • integrated planning and execution in robotic architectures;
  • planning and coordination methods for multi-robot teams;
  • mixed-initiative planning and sliding autonomy for robotic systems;
  • human-aware planning and execution in human-robot interaction;
  • adversarial action planning in competitive robotic domains;
  • formal methods for robot planning and control;
  • P&S methods for optimization and adaptation in robotics;
  • benchmark planning domains for robots;
  • optimizing behavior in large scale automated or semi-automated systems;
  • real-world planning applications for autonomous and intelligent robots.

Important Dates

Paper submission: March 20, 2018
Notification of acceptance: April 20, 2018
Camera-ready version due: May 25, 2018
Workshop Date: June 26, 2018


There are two types of submissions: short position statements and regular papers. Position papers are a maximum of 4 (four) pages. Regular papers are a maximum of 10 (ten) pages.

All papers should be typeset in the AAAI style, described at: removing AAAI copyright. Accepted papers will be published on the workshop website and printed as a hard-copy.

The papers must be submitted in a PDF format via EasyChair system (

Notice that papers under review (e.g., submitted to IJCAI-2018) are also welcome, however, in order to avoid potential conflicts these manuscripts should be prepared as anonymous submissions for a double blind reviewing process.

The organizers will investigate the availability of journal editors in order to invite a selection of accepted papers from the workshop to a special issue or post-proceedings volume.


Tuesday (June 26, 2018)
9:00 9:10
Welcome and introduction
Session 1: Robotic Exploration
9:10 9:25
Self-Reliant Rover Design for Increasing Mission Productivity
Daniel Gaines, Joseph Russino, Gary Doran, Ryan Mackey, Michael Paton, Brandon Rothrock, Steve Schaffer, Ali-Akbar Agha-Mohammadi, Chet Joswig, Heather Justice, Ksenia Kolcio, Jacek Sawoniewicz, Vincent Wong, Kathryn Yu, Gregg Rabideau, Robert Anderson and Ashwin Vasavada
9:25 9:30
Dynamic Shared Computing Resources for Multi-Robot Mars Exploration
Joshua Vander Hook, Tiago Stegun Vaquero, Martina Troesch, Jean-Pierre de La Croix, Joshua Schoolcraft, Saptarshi Bandyopadhyay and Steve Chien
9:30 9:45
An Approach for Autonomous Multi-rover Collaboration for Mars Cave Exploration: Preliminary Results
Tiago Vaquero, Martina Troesch and Steve Chien
9:45 9:50
Using Squeaky Wheel Optimization to Derive Problem Specific Control Information for a One Shot Scheduler for a Planetary Rover
Wayne Chi, Jagriti Agrawal and Steve Chien
9:50 10:05
Front Delineation and Tracking with Multiple Underwater Vehicles
Andrew Branch, Mar M. Flexas, Brian Claus, Andrew F. Thompson, Evan B. Clark, Yanwu Zhang, James C. Kinsey, Steve Chien, David M. Fratantoni, Brett Hobson, Brian Kieft and Francisco P. Chavez
10:05 10:10
Autonomous Nested Search for Hydrothermal Venting
Andrew Branch, Guangyu Xu, Michael V. Jakuba, Christopher R. German, Steve Chien, James C. Kinsey, Andrew D. Bowen, Kevin P. Hand and Jeffrey S. Seewald
10:10 10:25
Using a Hybrid AI-Planner to Plan Feasible Flight Paths for HAPS-Like UAVs
Jane Jean Kiam, Enrico Scala, Miquel Ramirez and Axel Schulte
10:25 11:00
Coffee Break
Session 2: Manufacturing
11:00 11:15
A Dynamic Task Planning System for Advanced Manufacturing Scenarios
Amedeo Cesta, Andrea Orlandini and Alessandro Umbrico
11:15 11:20
Integrating Classical Planning and Real Robots in Industrial and Service Robotics Domains
Oscar Lima, Rodrigo Ventura and Iman Awaad
11:20 11:35
Interactive Plan Execution during Human-Robot Cooperative Manipulation
Jonathan Cacace, Riccardo Caccavale, Alberto Finzi and Vincenzo Lippiello
Session 3: Activity/Goal Recognition
11:35 11:40
Action trees for scalable goal recognition in robotic applications
Helen Harman, Keshav Chintamani and Pieter Simoens
11:40 11:55
Robust Human Activity Monitoring Using Qualitative Spatial Representation and Reasoning
Sang Uk Lee, Ashkan Jasour, Andreas Hofmann and Brian Williams
Session 4: Robot Planning
11:55 12:00
Domain Reasoning for Robot Task Planning - A Position Paper
Uwe Köckemann, Ali Abdul Khaliq, Federico Pecora and Alessandro Saffiotti
12:00 12:15
Improving Trajectory Optimization using a Roadmap Framework
Siyu Dai, Matthew Orton, Shawn Schaffert, Andreas Hofmann and Brian Williams
12:15 12:30
An Anytime Algorithm for Task and Motion MDPs
Siddharth Srivastava, Nishant Desai, Richard Freedman and Shlomo Zilberstein
12:30 13:30
Lunch break
Session 5: Architectures and Frameworks
13:30 13:45
A Unified Framework for Planning in Adversarial and Cooperative Environments
Anagha Kulkarni, Siddharth Srivastava and Subbarao Kambhampati
13:45 14:00
What do you really want to do? Representing and Reasoning with Intentional Actions on a Robot
Rocio Gomez, Mohan Sridharan and Heather Riley
14:00 14:05
Sound and Complete Reactive UAV Behavior using Constraint Programming
Hoang Tung Dinh, Mario Henrique Cruz Torres and Tom Holvoet
14:05 14:10
Combining Planning and Model Checking to Get Guarantees on the Behavior of Safety-Critical UAV Systems
Hoang Tung Dinh, Mario Henrique Cruz Torres and Tom Holvoet
14:10 15:30
Poster Session
15:00 15:30
Coffee Break
15:30 16:30
Keynote Talk:
Prof. Mark Neerincx, Delft University
Dynamic Planning of Human-Robot Teamwork in Disaster Response: Adaptive tasking and information sharing
16:30 16:45
Reid Simmons, Program Director CISE/IIS, National Science Foundation
Activities in Robotics and AI at NSF
16:45 17:40
Panel discussion (Panelists: Steve Chien, Subbarao Kambhampati, Mark Neerincx, Reid Simmons)


The workshop proceedings are available here

Organization Chairs

Alberto Finzi,
Università di Napoli "Federico II", Italy

Erez Karpas
Technion - Israel Institute of Technology, Israel

Goldie Nejat
The University of Toronto, Canada.

AndreA Orlandini
Institute of Cognitive Sciences and Technologies (ISTC-CNR), Italy

Siddharth Srivastava
Arizona State University, Arizona, USA

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