ICRA 2019 Workshop on Continuous Management and Scheduling of multiple simultaneous prioritized Tasks for redundant Robots
Tracking multiple prioritized control objectives simultaneously with redundant robots have been studied extensively during the last decades. Prioritization schemes that implement a strict hierarchical order between objectives, a soft weighting of objectives or a hybrid combination have been deployed on humanoids, quadrupeds and also manipulators with more than six joints.
However, one important aspect that has not been yet addressed sufficiently is continuous priority rearrangement. Hard switching of task priorities or inserting/removing tasks, could result in discontinuities in the controller. Treating contact constraints as additional control objectives, contact transitions can be seen as one aspect of priority rearrangement.
Recently, few attempts have been made to derive prioritization schemes that allow adaptation of the priority order. Furthermore, contact planning algorithms have been proposed which generate smooth transitions. However, it is unclear whether task priority transitions should be initiated on planning or controller level. One potential future direction is learning time-dependent priorities. The goal of the workshop is therefore to (1) bring together top experts in multi-objective control, robot learning as well as motion and contact planning, (2) discuss the state-of-art, and (3) lay down promising future research directions that will lead to more flexible prioritization schemes.
Poster submission deadline: April 25, 2019
Acceptance notification: April 30, 2019
Workshop date: Friday, May 24, 2019, AM: 8:30-12:30.
Call for Papers
We welcome submissions of 1-2 page short papers in the double-column IEEE Tran format till April 25, 2019. All submissions must be original and not previously or simultaneously submitted to another event. Submissions will be judged on novelty, scientific contribution, clarity, and relevance.
We especially encourage women and young researchers to submit papers, in order to support gender balance in robotics and the promotion of early-career researchers to establish themselves within the community. All accepted papers will be made available on the workshop website. Contributions to the workshop may address the aforementioned workshop aspects.
Authors of accepted submissions are expected to present a poster at the workshop and will give a 3-minute pitch presentation.
The poster session will allow authors to interact with other researchers and government/industry participants.
Please submit your papers via mail to Niels Dehio: niels dehio∂kit edu