The workshop will highlight the latest advances in resolving general robotic planning problems that march beyond robot motion and path planning under geometric and differential constraints. Equipped with a solid foundation in solving fundamental tasks such sensing/perception and decision making/motion planning, researchers have begun to tackle issues that appear when multiple aspects of a task must be handled simultaneously in an integrated application. Complex interactions frequently arise due to non-linear dependencies between the sub-problems. Alternatively, conflicting priorities may appear when multiple robots couple through geometric, communication, and other resource-sharing induced constraints. In recent years, efforts geared toward understanding such interactions have begun to pay off, as will be made evident by the presentations at the workshop. Nevertheless, much work remains to be done. Through invited talks, interactive presentations of contributed work, and open discussion sessions, the objective of the workshop is to bring together experts to establish where we are at solving these general planning problems, reach a better understanding of the inherent structures that give rise to complex interactions in such problems, pinpoint the universal and immediate key challenges that hinder the untangling of the interactions, and develop ideas for new techniques and algorithmic solutions for solving these challenges. We look forward to seeing you at the ICRA 2015 workshop on Beyond Geometric Constraints: Planning for Solving Complex Tasks, Reducing Uncertainty, and Generating Informative Paths & Policies.