diff --git a/.circleci/config.yml b/.circleci/config.yml
index 4cb628ec..4ced9fb9 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -12,7 +12,7 @@ jobs:
       - python/load-cache
       - python/install-deps
       - python/save-cache
-      - run: pip install sphinx sphinx-autobuild sphinx-rtd-theme pytest
+      - run: pip install sphinx sphinx-autobuild sphinx-rtd-theme pytest IPython
       - run:
           command: cd docs;make html
           name: doc_build
diff --git a/docs/conf.py b/docs/conf.py
index 7422e2b1..64b32d50 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -20,7 +20,7 @@ import os
 # -- Project information -----------------------------------------------------
 
 project = 'PythonRobotics'
-copyright = '2018, Atsushi Sakai'
+copyright = '2018-2021, Atsushi Sakai'
 author = 'Atsushi Sakai'
 
 # The short X.Y version
@@ -43,6 +43,7 @@ extensions = [
     'sphinx.ext.mathjax',
     'sphinx.ext.viewcode',
     'sphinx.ext.viewcode',
+    'IPython.sphinxext.ipython_console_highlighting',
 ]
 
 # Add any paths that contain templates here, relative to this directory.
diff --git a/docs/modules/path_planning/path_planning.rst b/docs/modules/path_planning/path_planning.rst
index cfe7b6ad..60651dd5 100644
--- a/docs/modules/path_planning/path_planning.rst
+++ b/docs/modules/path_planning/path_planning.rst
@@ -39,7 +39,7 @@ In the animation, cyan points are searched nodes.
 
 Its heuristic is 2D Euclid distance.
 
-.. _a*-algorithm:
+.. _D*-algorithm:
 
 D\* algorithm
 ~~~~~~~~~~~~~
diff --git a/docs/modules/cgmres_nmpc_files/cgmres_nmpc_1_0.png b/docs/modules/path_tracking/cgmres_nmpc_files/cgmres_nmpc_1_0.png
similarity index 100%
rename from docs/modules/cgmres_nmpc_files/cgmres_nmpc_1_0.png
rename to docs/modules/path_tracking/cgmres_nmpc_files/cgmres_nmpc_1_0.png
diff --git a/docs/modules/cgmres_nmpc_files/cgmres_nmpc_2_0.png b/docs/modules/path_tracking/cgmres_nmpc_files/cgmres_nmpc_2_0.png
similarity index 100%
rename from docs/modules/cgmres_nmpc_files/cgmres_nmpc_2_0.png
rename to docs/modules/path_tracking/cgmres_nmpc_files/cgmres_nmpc_2_0.png
diff --git a/docs/modules/cgmres_nmpc_files/cgmres_nmpc_3_0.png b/docs/modules/path_tracking/cgmres_nmpc_files/cgmres_nmpc_3_0.png
similarity index 100%
rename from docs/modules/cgmres_nmpc_files/cgmres_nmpc_3_0.png
rename to docs/modules/path_tracking/cgmres_nmpc_files/cgmres_nmpc_3_0.png
diff --git a/docs/modules/cgmres_nmpc_files/cgmres_nmpc_4_0.png b/docs/modules/path_tracking/cgmres_nmpc_files/cgmres_nmpc_4_0.png
similarity index 100%
rename from docs/modules/cgmres_nmpc_files/cgmres_nmpc_4_0.png
rename to docs/modules/path_tracking/cgmres_nmpc_files/cgmres_nmpc_4_0.png