ICRA 2018 Workshop

May 25th

(Room M4 (Mezzanine level))

Long-term autonomy and deployment of intelligent robots in the real-world


Download the workshop proceedings here.

Ask your questions for the panel discussion here

From driverless cars to autonomous harvesters to service robots, mobile robots are leaving the factories and entering less structured, more complex and dynamic environments. The key competence of these robots is the ability of reliable operation for long periods of time under changing and unpredictable environmental conditions. In other words, these robots need to be persistent and demonstrate a high level of robustness and fault tolerance and recovery, and above all of that, they have to be able to adapt over time to the changes in their operational environment. However, development and testing of these competences is difficult and tedious, because it goes far beyond running proof-of-concept experiments in controlled environments for a limited period of time. This makes any experience with long-term deployment of autonomous systems a valuable knowledge. In this workshop, we invite a number of renowned experts in the field who will highlight the main challenges these robots face and talk about their own experiences and the lessons they learnt during long-term deployments of their robots. We also call for papers that address the long-term autonomy problem and in particular the topics below:


08:50 Organizers, Welcome and workshop overview


09:00 Cyrill Stachniss - Visual Localisation Under Strong Appearance Changes

09:30 Torsten Sattler - Visual Localisation Under Day-Night Changes

10:00 Carl Wellington - Long-term deployment of self-driving cars and trucks


10:30 Morning Tea


11:00 John Leonard - Long-term autonomy for Self-Driving Cars: Challenges and Opportunities

11:30 3 minutes lightning talks

      1. Amanda Mahony, Hadrien Bride, Jin Song Dong, Zhé Hóu, Brendan Mahony, Martin Oxenham: A Trusted Goal Reasoning and Planning Framework for Long Term Autonomy
      2. Hyungjin Kim and Hyun Myung: Efficient Map Management Scheme for LiDAR-based Vehicle Localization
      3. Titus Cieslewski and Davide Scaramuzza: Describe Structure, not Appearance: Place Recognition in Sparse or Semi-Dense Point Clouds that are Obtained from Vision Only
      4. Giseop Kim and Byungjae Park and Ayoung Kim: Learning Scan Context toward Long-term LiDAR Localization
      5. Younggun Cho, Jinyong Jeong, Youngsik Shin and Ayoung Kim: DejavuGAN: Multi-temporal Image Translation toward Long-term Robot Autonomy
      6. Marcin Dymczyk, Marius Fehr, Thomas Schneider and Roland Siegwart: Long-term Large-scale Mapping and Localization Using maplab
      7. Markus Bajones, Timothy Patten, Michael Zillich and Markus Vincze: Probabilistic Observation Maps for Use in Long-Term Human-Robot Interactions


12:00 Lunch and posters


14:00 Paul Newman - One Map to Rule Them All?

14:30 Joydeep Biswas - Deploying Mobile Robots and Keeping them Autonomous --

15:00 Coffee break and posters


16:00 Jonathan Kelly - Designing for Long-Term Autonomy: Experiences With Collaborative Robots

16:30 Tomas Krajnik - One Year of Autonomy in Everyday Environments: The STRANDS Project


17:00 Panel discussion

18:00 Concluding remarks

Workshop topics:

  • Spatial and temporal representations for long-term mapping and localization,
  • Reasoning about environmental appearance and structural change,
  • Long-term mission planning and exploration,Lifelong learning and adaptation,
  • Context-dependent decision making,
  • Verification of long-term autonomous systems,
  • Robust recovery behaviors.

Keynote speakers


Programme committee:

  • Titus Cieslewski, University of Zurich
  • Marcin Dymczyk, ETH Zurich
  • Stephanie Lowry, Örebro University
  • Peer Neubert, Technical University of Chemnitz
  • Jaime Pulido Fentanes, University of Lincoln
  • Joao Santos, FARO Labs

Important dates

extended to April 8th Submission - follow the link

April 29th Notification of acceptance

May 6th Camera ready paper

May 25th Workshop (full-day)


Authors are required to submit a 2 pages extended abstract or 4 pages short paper or 6 pages full paper as PDF in the standard ICRA conference format.



Submissions will be judged based on relevance to the workshop topics, technical quality, and novelty. Authors of accepted papers are expected to give a lightning talk (2-3 minutes) and to present a poster at the workshop. A number of full papers will be selected for longer 10-15 oral presentation. The authors of the best full paper will be awarded 0.01 BTC.