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

CS686: Robot Motion Planning and Applications (Fall 2013)

CS686: Robot Motion Planning and Applications (Fall 2013)

Instructor: Sung-eui Yoon

When and where: 12:30-2:00pm on MW at Room 3445 (6th class room) in the 3rd floor of the CS building
First class: Sep-4 (Wed.) (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)
My ongoing book: Lecture on Advanced Techniques for Motion Planning and Collision Detection, Sung-eui Yoon, 2013 Draft version
Discussion: Noah board



  • 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 recent robotics conf. like ICRA, IROS, 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)
    Sep - 4 Overview on the course and course policy Answers for repeatedly asked questions
    Sep - 9
    Sep - 11 (no class due to the project review)
    Sep - 16
    Path Planning for Point Robots
    Sep - 18 No class (Chuseok)
    Sep - 23 Configuration Space I PA1 (see the slide)
    email title format: [CS686] PA1_studentID
    Sep - 25
    Sep - 30
    Oct - 2
    Configuration Space II
    Oct - 7
    Oct - 14
    Proximity queries Paper presentation guideline
    Oct - 16
    Probabilisitc roadmaps
    RRT and recent technologies
    Oct - 21 Mid-term exam
    Oct - 23 No class due to the exam period
    Oct - 28 Recent tech. Project presentation guideline
    Oct - 30 Student presentation 1 (F., HC)
    No class (due to attending IROS 2013) (15 min. more extensions to other classes as make-up classes
    Nov - 11 Student presentation 2 (Martin, DH)
    Nov - 13 Student presentation 3 (JP, DS)
    Nov - 18 Student presentation 4 (CS, J.)
    Nov - 20 Student presentation 5 (Ted, WY
    Nov - 25 Mid-term project presentation
    Nov - 27 Student presentation 6 (WY, DS
    Dec - 2 Student presentation 7 (F., CS
    Dec - 4 Student presentation 8 (J. and JP
    Dec - 9 Student presentation 9 (Martin and HC
    Dec - 11 Student presentation 10 (Ted and DH
    Dec - 16
    Dec - 18
    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: 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
  • 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

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