IROS 2014 Workshop on Real-time Motion Generation & Control

IROS 2014 Workshop: Real-time Motion Generation and Control

Call for Papers
IROS 2014 Workshop

Real-time Motion Generation and Control: Constraint-based Robot

Chicago, Illinois, USA
September 18, 2014

Important Dates
Jul 15, 2014 Deadline of paper submissions
Aug 15, 2014 Notification of acceptance
Sep 7, 2014 Deadline of final paper submissions
Sep 18, 2014 Workshop

Scope and Topics
The workshop's topics cover, but are not limited to:

- Real-time trajectory generation and control
- Constraint modeling and arising from particular applications
- Unified frameworks for planning and control
- Novel constraint-based planning/control algorithms
- Methodology for reactive behaviors
- Numerical algorithms for solving large-scale optimization problems
- Applications of constraint-based programming and control
- 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

Papers should be 4-6 pages in length, optionally accompanied by a video.
All submissions will be reviewed for relevance to the topic of the
workshop as well as scientific merit. Survey papers are welcome! Please
follow the IEEE RAS Manuscript Preparation Guidelines and submit your pdf
file to,, or .

The new generation of robots, such as redundant manipulators, mobile
manipulators and eventually humanoids, is challenging the robotics
community to provide robust, reliable and fast motion planning and control
algorithms to better integrate such robots in highly unstructured
environments. These new robots are expected to promptly react to
unpredictable modifications of the environment, as we, humans, do.
Integration of planning and control capabilities into a unique holistic
and real-time framework is then the challenge to be address in current and
future robotic research. A relatively new and lively research trend
focused on such hyper-redundant robotic systems relies on declarative and
constraint-based task and motion specification. The availability of
sophisticated solvers and real-time capable numerical algorithms seems to
open the door to a new paradigm in motion planning and control. Most of
these approaches are also essential for autonomous execution of complex
tasks requiring reactive on-line motion generation to enable-for
instance-safe robot motions during interactions with humans. As many of
the approaches are separated from each other, a
unifying holistic concept is still missing. It especially requires
systematic combinations of higher level constraints enabling cognitive
capabilities and underlying lower-level constraints for fast robot
reactions. This workshop is intended to encourage discussion between
robotic researchers actively working in constraint-based motion planning
and control, covering various aspects of this problem.

Organizing Committee
Gianni Borghesan, Katholieke Universiteit Leuven, Belgium
Torsten Kroeger, Stanford University, USA
Andrea Maria Zanchettin, Politecnico di Milano, Italy