IROS 2012 Workshop on "Robot Motion Planning: Online, Reactive, and in Real-time"

A full day workshop titled "Robot Motion Planning: Online, Reactive and in Real-time" will take place in conjunction with the IEEE/RSJ IROS 2012 conference in Vila Moura, Algarve, Portugal on October 7 or 12, 2012.

This workshop is supported by the TC on Algorithms for Planning and Control of Robot Motion and covers the following topics:

  • Online trajectory generation
  • Online path (re-)planning
  • Models for kinematic and dynamic constraints
  • Human-robot interaction control and strategies in physical cooperation
  • Sensing and actuation principles for online motion planning
  • New developments and applications of online motion planners
  • Elastic strips and real-time adaptive motion planning
  • Task-level motion planning
  • Motion planning layers and connections/interrelations between them
  • Human motion synthesis and analysis
  • (Self-)Collision avoidance for single- and multi-robot systems
  • Collision avoidance in dynamic environments


The schedule of the IROS 2012 Workshop on Real-time Motion Planning is now ready. Below follows a list of the contributions that will be presented during the meeting:

---------------- Program Overview ----------------

Rayomand Vatcha, Jinglin Li, and Jing Xiao
Dynamic Envelopes and Robustly, Continuously Collision-free Trajectories

Oliver Brock
"Design Principles" for Real-World Motion Generation Algorithms

Sachin Chitta
Bootstrapping Online Motion Planning

Sami Haddadin
Dynamic Motion Planning for Human Spaces

Robert Haschke
Hybrid Planning: Task-Space Control and Sampling-Based Planning

Daniel Sidobre and Wuwei He
Online Task Space Trajectory Generation

Luigi Biagiotti and Roberto Zanasi
Open-loop and Closed-loop Filters for Optimal Trajectory Planning under Time and Frequency Constraints

Corrado Guarino Lo Bianco and Fabio Ghilardelli
Third Order System for the Generation of Minimum-Time Trajectories with Asymmetric Bounds on Velocity, Acceleration, and Jerk

Torsten Kroeger
Online Trajectory Generation Algorithms as an Intermediate Layer between Robot Motion Planning and Control

S. Mohammad Khansari-Zadeh and Aude Billard
Realtime Avoidance of Fast Moving Objects: A Dynamical System-based Approach

Stephan Puls, Patrick Betz, Max Wyden, and Heinz Wörn
Path Planning for Industrial Robots in Human-Robot Interaction

Antonio Franchi, Carlo Masone, and Paolo Robuffo Giordano
A Synergetic High-level/Reactive Planning Framework with Application to Human-Assisted Navigation

Dynamic Movement Primitives for Human Robot Interaction
Miguel Prada and Anthony Remazeilles

Eiichi Yoshida and Fumio Kanehiro
Reactive Humanoid Motion Planning for Reaching Tasks

Nicholas Malone, Aleksandra Faust, Brandon Rohrer, John Wood, and Lydia Tapia
Efficient Motion-based Task Learning

Sanjeev Sharma and Matthew E. Taylor
Autonomous Waypoint Generation Strategy for On-Line Navigation in Unknown Environments

Guillaume Doisy, Aleksandar Jevtic, Eric Lucet, and Yael Edan
Adaptive Person-Following Algorithm Based on Depth Images and Mapping

Frank Hoeller, Timo Röhling, Markus Ducke, and Dirk Schulz
Collective Motion Pattern Scaling for Improved Open-loop Off-Road Navigation

Luca Bascetta, Gianantonio Magnani, Matteo Matteucci, Dinko Osmankovic, and Adnan Tahirovic
Towards the Implementation of a MPC-based Planner on an Autonomous All-Terrain Vehicle

Andrea Maria Zanchettin and Bakir Lacevic
Sensor-based Trajectory Generation for Safe Human-robot Cooperation

Marcello Bonfe, Cristian Secchi, and Enea Scioni
Online Kinodynamic Trajectory Generation using Nonlinear Filters: a
Multi-Dimensional Space Approach

Ben Ezair, Tamir Tassa, and Zvi Shiller
Multi-axis High-order Trajectory Planning

Theofanis P. Lambrou and Christos G. Panayiotou
Online, Adaptive, and Distributed Multi-Robot Motion Planning for
Collaborative Patrolling of Sparse Sensor Networks

Yiannis Karayiannidis, Christian Smith, Francisco E. Vina, Petter Ogren, and Danica Kragic
Design of Force-driven Online Motion Plans for Door Opening Under

Morten Lind, Lars Tingelstad, and Johannes Schrimpf
Real-time Robot Trajectory Generation with Python

Nima Keivan, Steven Lovegrove, and Gabe Sibley
A Holistic Framework for Planning, Real-time Control and Model Learning for High-speed Ground Vehicle Navigation Over Rough 3D Terrain

Ahmad Kamal Nasir, Christof Hille, and Hubert Roth
Plane Extraction and Map Building Using a Kinect Equipped Mobile Robot

Roel Pieters, Alejandro Alvarez-Aguirre, Pieter Jonker, and Henk Nijmeijer
Direct Trajectory Generation for Vision-Based Obstacle Avoidance


More information about the meeting can be found under the workshop's website.