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

CS686: Robot Motion Planning and Applications (Spring 2017)

CS686: Robot Motion Planning and Applications (Spring 2017)

Instructor: Sung-eui Yoon

When and where: 13:00-14:15pm on TTh at Room 3444 in the 3rd floor of the CS building(E3-1)
First class: 1:00 pm on Mar-2 (Th) (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, 2017 Draft version
Discussion: Noah board
Previous Board(Fall 2013): Noah board(2013)
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

    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)
    Mar - 2 Overview on the course and course policy
    Mar - 7 Path Planning for Point Robots
    Mar - 9 Classic Motion Planning Methods
    Mar - 14 Configuration Space I
    Mar - 16 Configuration Space II
    Mar - 21 Proximity Queries
    Mar - 23 Probabilistic Roadmaps
    Mar - 28
    Mar - 30
    No class due to attending a conference
    Apr - 4 High-level Motion/Path Planning Applications Programming assignment 2
    Apr - 6
    Apr - 11
    Apr - 13
    Apr - 18 Mid-term exam
    Apr - 20 No calss (midterm week)
    Apr - 25 Holston Alexander, Kent Sommer, Seungwon Song
    Apr - 27 Heechan Shin, Inkyu An, Sungwook Jung
    May - 2 Youngki Kwon, Seungwoon Kim, TaeHyoung Kim, JaeWon Choi
    May - 9 No class due to presidential election
    May - 11 1. Kent Sommer, Seungwoon Kim
    2. Heechan Shin, Holston Alexander
    3. TaeHyoung Kim, Jaewon Choi
    May - 16 1. Sungwook Jung, Seungwon Song
    2.Youngki Kwon, Inkyu An
    3. Suzi Kim
    May - 18 Kent Sommer, Suzi Kim, Inkyu An
    May - 23 Holston Alexander, Seungwon Song, Sungwook Jung
    May - 25 Youngki Kwon, Seungwoon Kim, TaeHyoung Kim
    May - 30 Suzi Kim, Jaewon Choi, Heechan Shin
    Jun - 1 Reserved
    Jun - 8 1. Kent Sommer, Seungwoon Kim
    2. Heechan Shin, Holston Alexander
    3. TaeHyoung Kim, Jaewon Choi
    Jun - 13 1. Sungwook Jung, Seungwon Song
    2. Youngki Kwon, Inkyu An
    3. Suzi Kim

    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 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
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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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