Department of Computer Science
Korea Advanced Institute of Science and Technology (KAIST)

CS686: Robot Motion Planning and Applications (Fall 2023)

CS686: Robot Motion Planning and Applications (Fall 2023)

Instructor: Sung-eui Yoon
Teaching Assistant (TA): Minsung Yoon

When and where: 10:30~12:00 am on Mon/Wed at Room 2445 in the 2rd floor of the CS building (E3-1)
First class: 10:30 am on Aug-28 (Mon)
Please refer to the first lecture slide for other course information
Textbook: Planning Algorithms, Steven M. LaValle, 2006 (online version is available)
My ongoing book: Motion Planning, Sung-eui Yoon, Draft version
Question Page: Question submission form
Paper Summary Page: Paper summary submission form



  • Course overview
  • Lectures and tentative schedule
  • Student presentations
  • Additional reference materials
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    Course overview

    Hubo mobile robot in a mock-up convenient store, approaching to grap a bottle.

    It is expected that robots with some sort of intelligence will be a part of our lives in future. Many challenges are ahead of us to realize robots to be a part of our lives. In this course, we will consider issues of motion planning of real and virtual robots for various applications. We will focus more on virtual robots and their applications in games, movies, virtual prototyping, crowd simulations. We will go over basic materials related to motion planning and their applications.

    What you will get at the end of the course:

  • Broad understanding on various motion planning methods
  • In-depth knowledge on recent methods related to motion planning
  • What you will do:

  • Choose and present a few papers from recent robotics conf. like ICRA, IROS, RSS, CVPR, CoRL, etc.
  • Final project: come up with your own idea related to the topic, (optionally) implement it to improve the state-of-the-art techniques
  • Mid-term exam: reviewing basic motion planning methods
  • A picture taken at the end of the class


    Lecture schedule (subject to change)

    # of lecture, date Topics and slides Related material(s) / Note(s)
    Aug - 28 Overview on the course and course policy
    Aug - 30 Path planning for point robots
    Sep - 4 Classic Motion Planning Methods PA1 is open (KLMS), due is Sep. 17
    Sep - 6 Configuration Space 1
    Sep - 11 Configuration Space 2
    Sep - 13 Proximity Queries
    Sep - 18 Proximity Queries
    Sep - 20 Probabilistic Roadmaps
    Sep - 25 RRT
    Sep - 27 Reinforcement Learning 1
    Oct - 2 No class - Chuseok
    Oct - 4 No class - attending ICCV conf.
    Oct - 9 No class - Hungul Day
    Oct - 11 Reinforcement Learning 2
    Oct - 16 (Official Mid-term Exam Period)
    Oct - 18 Midterm exam at 11am (Official Mid-term Exam Period)
    Oct - 23 No class
    Oct - 25 찬미, 민재 Students Presentation I
    Oct - 30 제일, 태근 Students Presentation I
    Nov - 1 제인, 지혁 Students Presentation I
    Nov - 6 예은, 석륜 Students Presentation I
    Nov - 8 T1 , T3 Mid-term project presentation
    Nov - 13 T2 , T4 Mid-term project presentation
    Nov - 15 예은, 석륜, Students Presentation II
    Nov - 20 제인, 민재 Students Presentation II
    Nov - 22 지혁, 태근 Students Presentation II
    Nov - 27 찬미, 제일 Students Presentation II
    Nov - 29 No class
    Dec - 4 T1 , T3 Final project presentation
    Dec - 6 T2 , T4 Final project presentation
    Dec - 11 (Official Final Exam Period)
    Dec - 13 (Official Final Exam Period)

    Student presentations and reports

    For your presentations, please use the this powerpoint template (not mandatory); paper presentation guideline is available.


    Additional reference materials and links

    Previous lecture videos: Lecture youtube playlist

    Public motion planning library: The Open Motion Planning Library (OMPL) from the Kavraki Lab at Rice University

    Possible project topics from Prof. Latombe's class

    Previous course homepage: Fall 20 Fall 19 Spring 17 Fall 15 Fall 13 Fall 11 Fall 09

    Links to websites of some well-known researchers in motion planning

    Paper search:

  • Google scholar
  • Tim Rowley's graphics paper collections
  • Ke-Sen Huang's graphics paper collections
  • Computer Vision Foundation open access
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    Acknowledgements: The course materials are based on those of Prof. Dinesh Manocha (UNC-Chapel Hill) and Prof. David Hsu (NUS). Thank you so much! Line

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