Department of Computer Science
Korea Advanced Institute of Science and Technology (KAIST)
CS686: Robot Motion Planning and Applications (Fall 2019)
CS686: Robot Motion Planning and Applications (Fall 2019)
- 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-3 (Tue) (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:
Motion Planning, Sung-eui Yoon,
Draft version
- KLMS Discussion: KLMS Board
- Question Page: Question submission form
- Paper Summary Page: Paper summary submission form
Outline
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:
What you will do:
| # of lecture, date |
Topics and slides |
Related material(s) / Note(s) |
| Sep - 3 |
Overview on the course and course policy |
|
| Sep - 5 |
Path Planning for Point Robots |
|
| Sep - 10 |
Classic Motion Planning Methods |
PA1, deadline: Sep.26 |
| Sep - 19 |
Configuration Space I |
|
| Sep - 24 |
Configuration Space II |
|
| Sep - 26 |
Proximity Queries |
|
| Oct - 8 |
Probabilistic Roadmaps |
|
| Oct - 15 |
RRT |
|
| Oct - 29 |
Min Kim , Eojin Rho |
|
| Oct - 31 |
Junyong Park ,
Seunghun Koh ,
Sejoon Huh
|
|
|
Nov - 5, 7 |
No class due to IROS presentation |
|
| Nov - 12 |
Hyunki Seong ,
Seungwook Lee
|
|
| Nov - 14 |
Byeongho Yu ,
Wonho Song
|
|
| Nov - 19 |
Mid-term presentation
T1: Eojin Roh, Junyong Park, Sejoon Huh
T3: Jaeyoon Kim, Jinhyeok Jang
T6: Zeehyo Kim, Ian Libao
| |
| Nov - 21 |
Mid-term presentation
T2: Yu Byeong-ho, Wonho Song, Duckyu Choi
T4: Hyunki Seong, Seungwook Lee
T5: Min Kim, Seunghun Koh
| |
| Nov - 26 |
Jaeyoon Kim ,
Emmanuel Ian Libao
|
|
| Nov - 28 |
No class due to KAIST undergraduate interview |
|
| Dec - 3 |
Jinhyeok Jang ,
Zeehyo Kim ,
Duckyu Choi
|
|
| |
|
|
| Dec - 15 |
Reserved |
|
| Dec - 10 |
Final presentation
T1: Eojin Roh, Junyong Park, Sejoon Huh
T3: Jaeyoon Kim, Jinhyeok Jang
T6: Zeehyo Kim, Ian Libao
|
|
| Dec - 12 |
Final presentation
T2: Yu Byeong-ho, Wonho Song, Duckyu Choi
T4: Hyunki Seong, Seungwook Lee
T5: Min Kim, Seunghun Koh
|
|
| Dec - 17, 19 |
Reservation for now |
|
Student presentations and reports
For your presentations, please use the this powerpoint template;
paper presentation
guideline is available.
Public software:
Possible project topics from Prof. Latombe's class
Previous course homepage:
Spring 17
Fall 15
Fall 13
Fall 11
Fall 09
Links to websites of some well-known researchers in motion planning
Paper search:
Acknowledgements:
The course materials are based on those of Prof. Dinesh Manocha (UNC-Chapel Hill) and Prof. David Hsu (NUS).
Thank you so much!
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