UNIVERSITY OF TORONTO
Faculty of Applied Science and Engineering
ROB521– Mobile Robotics and Perception
Midterm Exam
Instructor: Prof. Steven Waslander
February 25, 2026
Name:
Student Number:
Time allowed: 1 hour 30 minutes
This exam contains 14 pages (including this cover page) and 5 questions. Answer each question
in the spaces provided on the exam paper; some answer spaces span more than one page. A
double-sided aid sheet is permitted. You may use the back of the exam pages for scratch work or
additional space, provided you indicate clearly whether it is part of your final solution. Calculators
are permitted. Good luck!
Distribution of Marks
Question Points Score
History 15
Short Answer 25
Path Planning 20
Differential Kinematics 20
Local Planning and Control 20
Total: 100
1
, ROB521 Mobile Robotics and Perception February 25, 2026
Question 1: History (15 points)
Select the correct answer. Each question is worth 3 points.
(a) What new technology did Nikola Tesla demonstrate on Nov 8, 1898 at the Electrical Exhibition
at Madison Square Gardens?
⃝ First humanoid automaton
⃝ First Tesla Coil
√
First radio-controlled vehicle
⃝ First battery-operated rover
(b) Which robot’s research team invented the A* graph search algorithm
√
Shakey
⃝ The Beast
⃝ The Stanford Cart
⃝ Hexapod
(c) How many times longer than its expected 90 day lifespan did the Mars Exploration Rover
Opportunity remain operational on Mars?
⃝ 11 times
⃝ 16 times
⃝ 40 times
√
60 times
(d) The ”No Hands Across America” drive achieved 98.2% autonomous operation in traveling from
Pittsburg to Los Angeles was performed by which type of vehicle?
⃝ A converted school bus
√
A minivan
⃝ An SUV
⃝ A luxury sedan
(e) Which of the following humanoid capabilities was Asimo not able to perform by 2010, ten years
after it was first introduced to the world?
√
Walking on ice
⃝ Going up and down stairs
⃝ Shaking hands
⃝ Carrying drinks
Page 2 of 14
Faculty of Applied Science and Engineering
ROB521– Mobile Robotics and Perception
Midterm Exam
Instructor: Prof. Steven Waslander
February 25, 2026
Name:
Student Number:
Time allowed: 1 hour 30 minutes
This exam contains 14 pages (including this cover page) and 5 questions. Answer each question
in the spaces provided on the exam paper; some answer spaces span more than one page. A
double-sided aid sheet is permitted. You may use the back of the exam pages for scratch work or
additional space, provided you indicate clearly whether it is part of your final solution. Calculators
are permitted. Good luck!
Distribution of Marks
Question Points Score
History 15
Short Answer 25
Path Planning 20
Differential Kinematics 20
Local Planning and Control 20
Total: 100
1
, ROB521 Mobile Robotics and Perception February 25, 2026
Question 1: History (15 points)
Select the correct answer. Each question is worth 3 points.
(a) What new technology did Nikola Tesla demonstrate on Nov 8, 1898 at the Electrical Exhibition
at Madison Square Gardens?
⃝ First humanoid automaton
⃝ First Tesla Coil
√
First radio-controlled vehicle
⃝ First battery-operated rover
(b) Which robot’s research team invented the A* graph search algorithm
√
Shakey
⃝ The Beast
⃝ The Stanford Cart
⃝ Hexapod
(c) How many times longer than its expected 90 day lifespan did the Mars Exploration Rover
Opportunity remain operational on Mars?
⃝ 11 times
⃝ 16 times
⃝ 40 times
√
60 times
(d) The ”No Hands Across America” drive achieved 98.2% autonomous operation in traveling from
Pittsburg to Los Angeles was performed by which type of vehicle?
⃝ A converted school bus
√
A minivan
⃝ An SUV
⃝ A luxury sedan
(e) Which of the following humanoid capabilities was Asimo not able to perform by 2010, ten years
after it was first introduced to the world?
√
Walking on ice
⃝ Going up and down stairs
⃝ Shaking hands
⃝ Carrying drinks
Page 2 of 14
