| Date | Topic | Resources | Project |
| 9/4 | Class intro & survey. Finding collinear points. | intro.pdf, ex.pdf | P0-setup |
| 9/9 | Finding collinear points. Lab: review arrays, 2d arrays, vectors in c/c++ | collinear.pdf | P1-closest |
| 9/11 | Closest pair. Lab: header files and Makefiles. | closest.pdf , ex.pdf | |
| 9/16 | Point left of line primitive. Lab: OpenGL primer. | leftOf.pdf | |
| 9/16, 9/18 | Convex hull: properties and gift wrapping. Lab: OpenGL primer. | hull1.pdf, ex.pdf | |
| 9/23, 9/25 | Convex hull: Graham scan, Quickhull, Incremental, and lower bound. | hull2.pdf, hull3.pdf, ex.pdf | P2-hull2d |
| 9/30 | Convex hull: divide-and-conquer. | | P3-mondrian |
| 10/2 | Range searching and kd-trees. | range-searching.pdf | |
| 10/7 | FALL BREAK | | |
| 10/9 | Kd-trees, searching and analysis | kdtrees.pdf | |
| 10/14 | Range trees. Lab: OpenGL | rangetrees.pdf | P4-art gallery |
| 10/16 | Range trees, continued. Lab: Using the mouse in OpenGL | | |
| 10/21 | Segment-segment intersection. Point-in-polygon tests and ray crossings. | | |
| 10/23 | Art gallery problems and Fisk sufficiency proofs. Lab: Animations in OpenGL | artgallery.pdf | |
| 10/28 | Art gallery problems - the proofs. Segment intersection with Bentley-Ottman sweep. | bentley-ottman.pdf | |
| 10/30 | Computing convex hulls in 3d. | | P5-hull3d |
| 11/4 | Lab: OpenGL hull3d startup. Hull3d naive algorithm. | hull3d.pdf | |
| 11/6 | Hull3d: gift wrapping algorithm. | | |
| 11/11 | Hull3d: incremental algorithm and divide-and-conquer. | | |
| 11/13 | Polygon triangulation. Properties and triangulation by ear clipping. | triangulation.pdf | |
| 11/18 | class cancelled. | | P6-visgraph |
| 11/20 | Combinatorial path planning. Point robot among obstacles in 2D: Path planning with the visibility graph. | planning1.pdf | |
| 11/25 | THANKSGIVING BREAK! | | |
| 11/27 | THANKSGIVING BREAK! | | |
| 12/2 | Combinatorial path planning. Polygonal robot moving among obstacles in 2D. Configuration space and extended obstacles. | planning2.pdf | P7-planning |
| 12/4 | Heuristical path planning. A*, roadmaps and the RRT. | planning3.pdf | |
| 12/9 | Project. | | |
| 12/11 | Project. | | |