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

CS686: Motion Planning and Applications (Fall 2011)

CS686: Motion Planning and Applications (Fall 2011)

Instructor: Sung-eui Yoon

When and where: 4:00-5:15pm on Tues. and Thur. at Room 3444 (5th class room) in the 3rd floor of the CS building
First class: Sep-1 (Thur.) (please come to first class for more information)
Please refer to the first lecture slide for other course information
Textbook: Planning Algorithms, Steven M. LaValle, 2006 (online version is available)
TA: Duksu Kim (bluekdct at gmail dot com)



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

    Course overview

    A robot in a complex 3D CAD model (a power plant model)

    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 a paper list
  • 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
  • Line

    Lecture schedule (subject to change)

    # of lecture, date Topics and slides Related material(s) / Note(s)
    1, Sept - 1 (Th) Overview on the course and course policy Answers for repeatedly asked questions
    2, Sept - 6 (T)
    3, Sept - 8 (Th)
    Path Planning for Point Robots
    Sept - 13 (T) No class (Chuseok)
    4, Sept - 15 (Th) Path Planning for Point Robots (updated slides) PA1 (see the slide)
    email title format: [CS686] PA1_studentID
    5, Sept - 20 (T) Configuration Space I
    6, Sept - 22 (Th) Configuration Space II
    Sept - 27 (T)
    Sept - 29 (Th)
    No class (Attending IROS conference) (15 more class time extension as make-up in later classes
    Oct - 4 (T)
    Oct - 6 (Th)
    Proximity queries
    Oct - 11 (T)
    Probabilisitc roadmaps
    Oct - 13 (Th)
    Oct - 18 (T)
    RRT and recent technologies
    Oct - 20 (Th) No class due to the exam period
    Oct - 25 (T) Mid-term exam Grading results
    (Updated 10/27 15:00)
    Oct - 27 (Th) Recent tech.
    Nov - 1 (T) Student presentation 1 (ȿ, ) Paper list of student presentations
    Nov - 3 (Th) Student presentation 2 (, )
    Nov-8 (T)
    Nov-10 (Th)
    No class (due to attending ICCV 2011) (15 min. more extensions to other classes as make-up classes
    Nov - 15 (T) Student presentation 3 (Nahiyan, Lin)
    Nov - 17 (Th) Mid-term project presentation
    Slides : , ȿ , Nahiyan , Lin , ̿ , ,
    Project guidelines
    Nov - 22 (T) External speaker (JungHwan Lee, Ph.D. candidate)
    Nov - 24 (Th) Student presentation 4 (ȿ, ̿)
    Nov - 29 (T) Student presentation 5 (Lin, )
    Dec - 1 (Th) Student presentation 6 (Nahiyan, )
    Dec - 6 (T) Student presentation 7 (̿, )
    Dec - 13 (T)
    Dec - 15 (Th)
    No class
    Dec - 22 (Th) Final project presentation Presentation order



    Student presentations and reports

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

    For your final report, please use the this latex template


    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: Fall09

    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
  • Line

    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

    Copyright 2011. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the author.

    This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.