Last night I ran into the same problem. I upgraded from 12.04 LTS to 16.04.1 
LTS Server and got stuck at boot.
The last message complained about a UUID not being present. It turned out it 
was the /usr FS. Doing an "lvm lvscan" from the initrd prompt showed all but 
one LVs inactive. The only one active was bootvg/root. 
I then booted via rescue system and added "lvm vgchange -ay" in 
/usr/share/initramfs-tools/scripts/local-top/lvm2 right before "exit 0". After 
running "update-initramfs -k all -c" and rebooting the server got up again.

The bootvg is on a RAID1 disk controlled via mdadm.

mdadm --detail /dev/md1
/dev/md1:
        Version : 1.2
  Creation Time : Sat Dec 20 16:49:58 2014
     Raid Level : raid1
     Array Size : 971924032 (926.90 GiB 995.25 GB)
  Used Dev Size : 971924032 (926.90 GiB 995.25 GB)
   Raid Devices : 2
  Total Devices : 2
    Persistence : Superblock is persistent

    Update Time : Mon Jan 23 09:50:47 2017
          State : clean
 Active Devices : 2
Working Devices : 2
 Failed Devices : 0
  Spare Devices : 0

           Name : XXX:1
           UUID : xxxxxxxx:xxxxxxxx:xxxxxxxx:xxxx814e
         Events : 21001

    Number   Major   Minor   RaidDevice State
       0       8       19        0      active sync   /dev/sdb3
       2       8        3        1      active sync   /dev/sda3

pvs
  PV         VG      Fmt  Attr PSize   PFree
  /dev/md1   bootvg  lvm2 a--  926.90g 148.90g

The /boot FS is on sda1/sdb1 also via RAID1
sda2 and sda2 are swap 

fdisk -l /dev/sda
Disk /dev/sda: 931.5 GiB, 1000204886016 bytes, 1953525168 sectors
Units: sectors of 1 * 512 = 512 bytes
Sector size (logical/physical): 512 bytes / 4096 bytes
I/O size (minimum/optimal): 4096 bytes / 4096 bytes
Disklabel type: dos
Disk identifier: 0x00000000

Device     Boot   Start        End    Sectors  Size Id Type
/dev/sda1          2048    1026047    1024000  500M fd Linux raid autodetect
/dev/sda2       1026048    9414655    8388608    4G 82 Linux swap / Solaris
/dev/sda3       9414656 1953525167 1944110512  927G fd Linux raid autodetect

lsb_release -rd
Description:    Ubuntu 16.04.1 LTS
Release:        16.04

dpkg -l lvm2
ii  lvm2                   2.02.133-1ubuntu amd64            Linux Logical 
Volume Manager

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Touch seeded packages, which is subscribed to lvm2 in Ubuntu.
https://bugs.launchpad.net/bugs/1573982

Title:
  LVM boot problem - volumes not activated after upgrade to Xenial

Status in lvm2 package in Ubuntu:
  Confirmed

Bug description:
  Soon after upgrade to Xenial (from 15.10) the boot process got broken.
  I'm using LVM for /root swap and other partitions.

  ===
  The current behaviour is:

  When I boot short after the Grub login screen I'm getting log messages
  like:

  ---
  Scanning for Btrfs filesystems
  resume: Could not state the resume device file: '/dev/mapper/VolGroup....'
  Please type in the full path...
  ---

  Then I press ENTER, for a few minutes some errors about floppy device
  access are raised (for some reason it tries to scan fd0 when floppy
  drive is empty). And then:

  ---
  Gave up waiting for root device. Common problems: ...
  ...
  ALERT! UUID=xxx-xxx.... does not exist.
  Dropping to a shell.
  ---

  From the BusyBox shell I managed to recover the boot by issuing "lvm
  vgchange -ay", then exit and then boot continues fine (all LVM file
  systems are successfully mounted).

  ===
  One workaround so far is creating 
/etc/initramfs-tools/scripts/local-top/lvm2-manual script doing "lvm vgchange 
-ay". But I'm looking for cleaner solution.

  Boot used to work fine with 15.10. Actually the first boot after
  upgrading to Xenial actually worked OK too, I'm not sure what might
  changed meanwhile (I've been fixing some packages installation since
  mysql server upgrade has failed).

  ===
  # lsb_release -rd
  Description:  Ubuntu 16.04 LTS
  Release:      16.04

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