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International Workshop on

Planning under Uncertainty for Autonomous Systems

Held in conjunction with

15th International Conference on Automated Planning & Scheduling

June 5-10th, 2005
Monterey, California, U.S.A.

Overview ]

Scope ]

Submissions ]

Important Dates ]

Schedule ]

Organisation ]

Proceedings ]

The workshop schedule and proceedings (PDF, 5.9MB) are available.


Autonomous systems, like UAVs, UUVs, UGVs, planetary rovers and space probes, operate with limited human intervention in changing and partially known environments. These systems must plan and control internal behavior while responding to mission updates and sporadic environment changes. The promise of greater mission capability at lower cost is leading to increasing interest in autonomy across a spectrum of commercial and military application domains. Since simple heuristic approaches dramatically reduce the operational scope of autonomous systems, planning problems appear to be system centric and critical for the success of challenging missions. Various theoretical and practical aspects of planning for such systems have been studied so far, but a broad range of problems remain open.


This multi-disciplinary workshop invites submissions from researchers in industry and academia. Submissions on dedicated planning techniques and practical experiences for real world problems (including undersea, ground and aerospace systems) are particularly encouraged. Relevant topics, focused on planning techniques dedicated to autonomous systems, include but are not limited to:

  • Planning techniques with uncertain, incomplete or biased data, temporal uncertainty, spatial uncertainty or geolocalisation issues.
  • Reactive vs. proactive planning issues: plan management and replanning; planning with contingencies; just-in time planning; balancing off-line and on-line planning.
  • Interelations between planning and environment models: relevant situation awareness models; planning for information acquisition; models of environment and system dynamics for planning algorithms.
  • Constraint based representations, constraint solving for autonomy, constrained optimisation techniques and specific consistency management methods (model decomposition, propagation algorithms, ...).
  • Search techniques for planning under uncertainty, including anytime, online and continuous search; generic versus domain specific heuristic efficiency; hybrid search techniques (local search, branch and bound, binary searches, greedy algorithms, global search, repair, ...).
  • Combining planning, monitoring and execution; interleaving mobility and planning for robots or unmanned vehicles.
  • Hybridized planning approaches: planning and scheduling, planning and routing, energy-aware planning; planning and control methods, including model-predictive or adaptive control.
  • Planning with specific constraints of system activities (land, air, undersea, space and other systems of interest with autonomous behaviors).
  • Decision theoritic planning with uncertainty for autonomous systems.
  • Integration, verification and validation of planning and scheduling techniques in autonomous system architectures; dependability and real-time issues.
  • Dealing with uncertainty in planning for cooperative / collaborative agents; plan coordination under uncertainty.
  • Real-world applications in various domains, including undersea, land, air and space.

The workshop format will consist of technical presentations based on accepted papers, followed by a discussion session on each paper, led by an assigned moderator. Position papers will be presented briefly. The workshop will include an invited talk by Roy Turner from the Maine Software Agents and Artificial Intelligence Laboratory, University of Maine.

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Submissions may be regular papers (10 pages) or short position papers (2 pages). Position papers should focus on relevance to application domain, positioning, and innovative ideas. For all papers, the format should conform to the AAAI style template. Papers will be reviewed by at least two referees.

Submissions, in PDF format only, should be sent by email to christophe.guettier @ sagem.com (remove the spaces) using the subject line ICAPS'05 Workshop Submission.

All workshop attendees must be registered for ICAPS'05.

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Important Dates

The schedule of important dates for the workshop is as follows:

Paper submission deadline 7 March 2005
Notification of acceptance 23 March 2005
Camera-ready version deadline 13 April 2005 (hard)
Workshop date 7 June 2005

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Workshop Schedule

08:30 Welcome and Introductory Remarks
08:40 Intelligent Mission Planning and Control of Autonomous Underwater Vehicles (invited talk)
Roy Turner, MaineSAIL
09:40 A Guide to Heuristic-based Path Planning
D. Ferguson, M. Likhachev, G. Gordon, A. Stentz, and S. Thrun
10:20 Distributed Re-Planning with Bounded Time Resources in the ARTEMIS Project
P. Fabiani, E. Bensana, J-L Farges, P. Morignot, J-C Poncet, J. Baltiť, and B. Patin
Coffee Break (10:30-11:00)
11:00 A Continuous Anytime Planning Module for an Autonomous Earth Watching Satellite
S. Damiani, G. Verfaillie, and M-C Charmeau
11:40 Enhancing the Anytime Behaviour of Mixed CSP-Based Planning
C. Guettier and N. Yorke-Smith
Lunch (12:20-14:00)
14:00 On-Line Mission Planning for Autonomous Vehicles
E. Chanthery, M. Barbier, and J-L Farges
14:40 Responding to Uncertainty in UAV Surveillance through Desire Analysis
David C. Han and K. Suzanne Barber
15:20 The Autonomous On-Board Mission Planning System for BayernSat
Robert Axmann and Martin Wickler
Coffee Break (15:30-16:00)
16:00 An AO* Algorithm for Planning with Continuous Resources
E. Benazera, R. Brafman, N. Meuleau, Mausam, and E. Hansen
16:40 Symbolic Heuristic Policy Iteration Algorithms for Structured Decision-Theoretic Exploration Problems
F. Teichteil Konigsbuch and P. Fabiani
17:20 Concluding Remarks

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Organising Committee

Christophe Guettier (program chair)
Paris, France
Email: christophe.guettier @ sagem.com

Neil Yorke Smith (program co-chair)
Artificial Intelligence Center, SRI International
Menlo Park, CA, USA
Email: nysmith @ ai.sri.com
Web: http://www.ai.sri.com/~nysmith

Programme Committee

Chris Beck (Cork Constraint Computation Centre, Ireland)
Patrick Fabiani (Office National d'Etudes et de Recherches Aerospatiales, France)
Christophe Guettier (SAFRAN, France)
Karen Haigh (Honeywell, USA)
Felix Ingrand (Laboratory for Analysis and Architecture of Systems, France)
Detlef Koschny (ESA ESTEC Research and Technology Center, Netherlands)
Juliette Mattioli (Thales Research and Technology, France)
Nicola Muscettola (NASA Ames Research Center, USA)
Wheeler Ruml (Palo Alto Research Center, USA)
Yi Shang (University of Missouri-Columbia, USA)
Roy M. Turner (University of Maine, USA)
Gerard Verfaillie (Laboratory for Analysis and Architecture of Systems, France)
Neil Yorke Smith (SRI International, USA)

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