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

CS686: Robot Motion Planning and Applications (Fall 2020)

CS686: Robot Motion Planning and Applications (Fall 2020)

Instructor: Sung-eui Yoon

When and where: 4:00-5:15pm on TTh at Room 3445 in the 3rd floor of the CS building(E3-1)
First class: 4:00 pm on Sep-1 (Tue) (youtube class)
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
KLMS Discussion: KLMS Board
Question Page: Question submission form
Paper Summary Page: Paper summary submission form
Student Talk Evaluation Page: Student talk evaluation submission form
Project Evaluation Form: Project evaluation 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, CoRLetc.
  • 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
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    Lecture schedule (subject to change)

    Lecture youtube playlist

    # of lecture, date Topics and slides Related material(s) / Note(s)
    Sep - 1 Class Overview
    Sep - 3 Path planning for point robots
    Sep - 8 Classic Motion Planning Methods
    Sep - 10 Configuration Space 1
    Sep - 5 Zoom QnA session
    Sep - 17 Configuration Space 2
    Sep - 22 Proximity Queries
    Sep - 24 Probabilistic Roadmaps
    Oct - 6 RRT
    Oct - 8 Reinforcement Learning
    Oct - 13 Talk schedule
    Oct - 27 Truong Giang Khang, Hochang Lee
    Oct - 29 Changho Jo, Minh Tuan Tran
    Nov - 3 Shinjeong Kim, Hyeongyeol Ryu, Minsung Yoon
    Nov - 10 Andrea Finazzi, Sebin Lee1, Sebin Lee2, Chungsu Jang
    Nov - 12 Project Team1, Project Team2 Midterm
    Nov - 17 Project Team3, Project Team4, Project Team5 Midterm
    Nov - 19 Changho Jo, Sebin Lee1, Sebin Lee2
    Nov - 24 Minsung Yoon, Andrea Finazzi
    Nov - 26 Hochang Lee
    Dec - 1 Minh Tuan Tran, Hyeongyeol Ryu, Chungsu Jang
    Dec - 3 Truong Giang Khang, Shinjeong Kim
    Dec - 8 Project Team1, Project Team2 Final
    Dec - 10 Project Team3, Project Team4, Project Team5 Final

    Student presentations and reports

    For your presentations, please use the this powerpoint template; paper presentation guideline is available.


    Additional reference materials and links

    Public software:

    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 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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