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@@ -253,7 +253,18 @@ <h2 id="submission-3"><a class="header" href="#submission-3">Submission</a></h2>
 <p>To implement the tasks, use the <code>algorithm</code> directory only; do not modify the rest of the simulator. The solution must work in the fresh simulator without any errors, and must generate the graphical outputs contained in the report.</p>
 <p>Create a single A4 report that will briefly describe your solution (few sentences for each task and an image, if makes sense).</p>
 <p>Send the report and <code>zip</code> archive comprising the <code>algorithm</code> directory to the lecturer's e-mail by Sunday 23:59 of the given week of the semester.</p>
-<div style="break-before: page; page-break-before: always;"></div><p><em>The assignment will be provided later</em></p>
+<div style="break-before: page; page-break-before: always;"></div><h1 id="week-6---path-planning"><a class="header" href="#week-6---path-planning">Week 6 - Path Planning</a></h1>
+<p>The goal of this assignment is to implement a working path planning algorithm.</p>
+<h2 id="task-1"><a class="header" href="#task-1">Task 1</a></h2>
+<p>Choose and implement an algorithm which finds a path between the starting position of the robot and the goal position in the map. The path must not collide with any wall. Use the occupancy grid stored in the variable <code>read_only_vars.discrete_map.map</code>.</p>
+<h2 id="task-2"><a class="header" href="#task-2">Task 2</a></h2>
+<p>Adjust the planning algorithm to keep a clearance from obstacles. You may use any method. The clearance should be at least 0.3 m.</p>
+<h2 id="task-3"><a class="header" href="#task-3">Task 3</a></h2>
+<p>Apply a smoothing algorithm to the generated paths. Use the iterative algorithm provided in the lecture, or find another. Discuss the effects of the algorithm's parameters.</p>
+<h2 id="submission-4"><a class="header" href="#submission-4">Submission</a></h2>
+<p>To implement the tasks, use the <code>algorithm</code> directory only, do not modify the rest of the simulator. The solution must work in the fresh simulator without any errors, and must generate the graphical outputs contained in the report</p>
+<p>Create a single A4 report that will briefly describe your solution (few sentences for each task and an image, if makes sense).</p>
+<p>Send the report and <code>zip</code> archive comprising the <code>algorithm</code> directory to the lecturer's e-mail by Sunday 23:59 of the given week of the semester.</p>
 <div style="break-before: page; page-break-before: always;"></div><p><em>The assignment will be provided later</em></p>
 <div style="break-before: page; page-break-before: always;"></div><h1 id="matlab-robot-simulator"><a class="header" href="#matlab-robot-simulator">MATLAB Robot Simulator</a></h1>
 <p>The simulator is lightweight, MATLAB-based tool for testing key algorithms utilized for autonomous navigation in mobile robotics. Basically, it integrates differential drive mobile robot model equipped with two different sensors (lidar and GNSS), and  enables to deploy it within custom 2D maps. The main goal is to navigate the robot from start to goal position; for this reason, several algorithms must be implemented:</p>

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@@ -173,7 +173,18 @@ <h1 class="menu-title">MPC-MAP</h1>
 
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-                        <p><em>The assignment will be provided later</em></p>
+                        <h1 id="week-6---path-planning"><a class="header" href="#week-6---path-planning">Week 6 - Path Planning</a></h1>
+<p>The goal of this assignment is to implement a working path planning algorithm.</p>
+<h2 id="task-1"><a class="header" href="#task-1">Task 1</a></h2>
+<p>Choose and implement an algorithm which finds a path between the starting position of the robot and the goal position in the map. The path must not collide with any wall. Use the occupancy grid stored in the variable <code>read_only_vars.discrete_map.map</code>.</p>
+<h2 id="task-2"><a class="header" href="#task-2">Task 2</a></h2>
+<p>Adjust the planning algorithm to keep a clearance from obstacles. You may use any method. The clearance should be at least 0.3 m.</p>
+<h2 id="task-3"><a class="header" href="#task-3">Task 3</a></h2>
+<p>Apply a smoothing algorithm to the generated paths. Use the iterative algorithm provided in the lecture, or find another. Discuss the effects of the algorithm's parameters.</p>
+<h2 id="submission"><a class="header" href="#submission">Submission</a></h2>
+<p>To implement the tasks, use the <code>algorithm</code> directory only, do not modify the rest of the simulator. The solution must work in the fresh simulator without any errors, and must generate the graphical outputs contained in the report</p>
+<p>Create a single A4 report that will briefly describe your solution (few sentences for each task and an image, if makes sense).</p>
+<p>Send the report and <code>zip</code> archive comprising the <code>algorithm</code> directory to the lecturer's e-mail by Sunday 23:59 of the given week of the semester.</p>
 
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