Instructor: Bardh Hoxha
Office: Eng A409E
Office Hours: Mondays, Wednesdays, Fridays 1PM - 3PM

Course Description

The course will cover various planning algorithms for robotic systems. It will include an introduction to kinematics, configuration space, motion planning, and localization and mapping.


  • Configuration Space (C-Space) for Motion Planning
  • Roadmap Representation and decomposition of C-Space
  • Graph Search algorithms
  • Discrete and Continuous Task Planning
  • Potential Functions
  • Sampling-based path planning
  • Probablistic Roadmaps for path planning
  • Kalman Filtering and Bayesian Methods
  • Simultaneous localization and mapping

Readings and Assignments

Posted on D2L/Microsoft Teams.

Special Needs

If you are entitled to extra accommodation for any reason (such as a disability), we make every reasonable attempt to accommodate you. However, it is your responsibility to discuss this with the instructor at the beginning of the course.

Academic Honesty

Work in this course, unless explicitly stated in writing to the contrary, is to be an effort by the individual student. It is not acceptable to use work other than your own without full attribution and acknowledgment. While you are welcome to discuss problems with others, it is not acceptable to discuss solutions with them. Depending on the severity of the infraction, penalties may include a grade of zero on the offending item, a grade of zero on the offending item and a reduction of the final grade by one full letter grade, a failing grade in the course with an indication of academic dishonesty. Such penalties might result in a requirement to withdraw from the university. If in doubt about anything related to academic integrity, see the instructor.