Uniform cost search takes into account the cost associated with an action, and can be implemented with a priority queue. Heuristics extimate the cost of the remaining path to the goal; the Manhattan distance is an example of an admissible heuristic.

Discussion of imperative, functional, and object-oriented programming styles. State machines are introduced, using a turnstile as an example.

Introduction to probability theory, with the goals of making precise statements about uncertain situations and drawing reliable inferences from unreliable observations. A hidden Markov model is then applied to robot navigation.