Human-Inspired Robotics Lab

Zhi (Jane) Li (

Jun 28th, 2017

RBE 550 – Motion Planning


Zhi Jane Li

Office: 85 Prescott 223C

Office Hours: Monday, Thursday 4:00 pm - 5:00 pm

Email: zli11 [at]

Time & Location: Wed, Fri 12:00pm - 1:15pm, [at] OH126

Course Website:

Piazza Discussion Website:

This course is designed based on Dr. Dmitry Berenson’s RBE 550 - Motion Planning.


This course focuses on the theory and practice of robot motion planning, which can be applied to many kinds of robots as well as animated characters and even molecules. It will cover the major topics of motion planning including (but not limited to) planning for manipulation with robot arms and hands, mobile robot path planning with non-holonomic constraints, multi-robot path planning, high-dimensional sampling-based planning, and planning on constraint manifolds. Students will implement motion planning algorithms in open-source frameworks, read recent literature in the field, and complete a project that draws on the course material.


Undergraduate Linear Algebra, experience with 3D geometry, and significant programming experience.



  1. Introduction
  2. Planning for point robots
  3. Cspace
  4. Discrete Planning
  5. Transformation
  6. Collision Detection
  7. Sampling-based Planning 01
  8. Sampling-based Planning 02
  9. Non-holonomic Planning
  10. Grasping
  11. Planning for arms 01
  12. Planning for arms 02
  13. Putting it all together


  1. Homework 1
  2. Homework 2
  3. Homework 3


The instructor reserves the right to modify the course outline and policies mentioned in this syllabus at any time during the term.