I had the same error and finally (in my particular case) I found a problem in the deployment descriptor (web.xml)
The problem:
<servlet-mapping>
<servlet-name>SessionController</servlet-name>
<url-pattern>/</url-pattern>
</servlet-mapping>
...
<welcome-file-list>
<welcome-file>/</welcome-file>
</welcome-file-list>
the solution:
<servlet-mapping>
<servlet-name>SessionController</servlet-name>
<url-pattern>/SessionController</url-pattern>
</servlet-mapping>
...
<welcome-file-list>
<welcome-file>desktop.jsp</welcome-file>
</welcome-file-list>