I have had the same error on the test server but not in local. After a few minutes, I discovered that the IDE wasn't synchronized with the pom.xml. Here is how I solve it:
Re-Generate the deployment descriptor with Eclipse
Right click on your project folder
In the contextual menu, choose "Java EE Tools" then "Generate Deployment Descriptor Stub"
It will create the web.xml.
Re-Generate the deployment descriptor with IntelliJ
Right click on your project folder
In the contextual menu, choose "Open Module Settings", then click on the + to add the web deployment descriptor.
Then your can change the path to your descriptor or the Web Ressource Directoriesand the on the right side.