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+\documentclass[a4paper,12pt]{scrartcl}
+\usepackage[ngerman]{babel}
+\usepackage{graphicx} %BIlder einbinden
+\usepackage{amsmath} %erweiterte Mathe-Zeichen
+\usepackage{amsfonts} %weitere fonts
+\usepackage[utf8]{inputenc} %Umlaute & Co
+\usepackage{hyperref} %Links
+\usepackage{ifthen} %ifthenelse
+\usepackage{enumerate}
+\usepackage{pdfpages}
+\usepackage{algpseudocode} %Pseudocode
+\usepackage{dsfont} % schöne Zahlenräumezeichen
+\usepackage{amssymb, amsthm} %noch stärker erweiterte Mathe-Zeichen
+\usepackage{tikz} %TikZ ist kein Zeichenprogramm
+\usetikzlibrary{trees,automata,arrows,shapes}
+
+\pagestyle{empty}
+
+
+\topmargin-50pt
+
+\newcounter{aufgabe}
+\def\tand{&}
+
+\newcommand{\makeTableLine}[2][0]{%
+  \setcounter{aufgabe}{1}%
+  \whiledo{\value{aufgabe} < #1}%
+  {%
+    #2\tand\stepcounter{aufgabe}%
+  }
+}
+
+\newcommand{\aufgTable}[1]{
+  \def\spalten{\numexpr #1 + 1 \relax}
+  \begin{tabular}{|*{\spalten}{p{1cm}|}}
+    \makeTableLine[\spalten]{A\theaufgabe}$\Sigma$~~\\ \hline
+    \rule{0pt}{15pt}\makeTableLine[\spalten]{}\\
+  \end{tabular}
+}
+
+\def\header#1#2#3#4#5#6#7{\pagestyle{empty}
+\begin{minipage}[t]{0.47\textwidth}
+\begin{flushleft}
+{\bf #4}\\
+#5
+\end{flushleft}
+\end{minipage}
+\begin{minipage}[t]{0.5\textwidth}
+\begin{flushright}
+#6 \vspace{0.5cm}\\
+%                 Number of Columns    Definition of Columns      second empty line
+% \begin{tabular}{|*{5}{C{1cm}|}}\hline A1&A2&A3&A4&$\Sigma$\\\hline&&&&\\\hline\end{tabular}\\\vspace*{0.1cm}
+\aufgTable{#7}
+\end{flushright}
+\end{minipage}
+\vspace{1cm}
+\begin{center}
+{\Large\bf Assignment #1}
+
+{(Hand-in date #3)}
+\end{center}
+}
+
+
+
+%counts the exercisenumber
+\newcounter{n}
+
+%Kommando für Aufgaben
+%\Aufgabe{AufgTitel}{Punktezahl}
+\newcommand{\Aufgabe}[2]{\stepcounter{n}
+\textbf{Exercise \arabic{n}: #1} (#2 Punkte)\\}
+
+
+
+
+\begin{document}
+    %\header{BlattNr}{Tutor}{Abgabedatum}{Vorlesungsname}{Namen}{Semester}{Anzahl Aufgaben}
+    \header{7}{}{2015-06-16}{Mobile Robots}{
+        \textit{Jan-Peter Hohloch}\\ \textit{Maximus Mutschler}
+    }{SS 15}{3}
+    \vspace{1cm}
+
+    \Aufgabe{Occupancy Gridmap}{9}
+    \begin{enumerate}[(a)]
+        \item $\frac{p(m_i|z_{1,\dots,t})}{1-p(m_i|z_{1,\dots,t})}=\frac{p(m_i|z_t)}{1-p(m_i|z_t)}\frac{p(m_i|z_{1,\dots,t-1})}{1-p(m_i|z_{1,\dots,t-1})}\frac{1-p(m_i)}{p(m_i)}$\\
+        $\Leftrightarrow\frac{A}{1-A}=\underbrace{\frac{B}{1-B}\frac{C}{1-C}\frac{1-D}{D}}_F$\\
+        $\Leftrightarrow A=(1-A)F$\\
+        $\Leftrightarrow A=\left(1+\frac{1}{F}\right)^{-1}=\left(1+\frac{1-B}{B}\frac{1-C}{C}\frac{D}{1-D}\right)^{-1}=\left(1+\frac{1-p(m_i|z_t)}{p(m_i|z_t)}\frac{1-p(m_i|z_{1,\dots,t-1})}{p(m_i|z_{1,\dots,t-1})}\frac{p(m_i)}{1-p(m_i)}\right)^{-1}$
+        \item 4 Add/Sub, 6 Div/Mult
+        \item 1 Add/Sub, 3 Div/Mult
+        \item TODO %TODO, ...
+    \end{enumerate}
+    \Aufgabe{Quadtree}{6}
+    \begin{enumerate}[(a)]
+        \item TODO %TODO
+        \item TODO %TODO wtf?
+        \item $256^2=\left(2^8\right)^2=4^8$\\
+        $\Rightarrow$ maxdepth: 9\\
+        $\Rightarrow$ maxnodes: $\sum\limits_{i=0}^9\frac{4^9-1}{4-1}=87381$
+    \end{enumerate}
+    \Aufgabe{Topological Maps}{5}
+        \begin{enumerate}[(a)]
+            \item \includegraphics[width=\textwidth]{voroni.jpg}
+            \item[(c)] \begin{tikzpicture}[auto,node distance=2.0cm]
+                \node[state] (A) {};
+                \node[state] (B) [right of=A] {};
+                \node[state] (C) [right of=B] {};
+                \node[state] (D) [right of=C] {};
+                \node[state] (E) [above of=D] {};
+                \node[state] (F) [right of=E] {};
+                \node (help) [below of=F] {};
+                \node[state] (G) [below of=help] {};
+                \node[state] (H) [left of=G] {};
+                \node[state] (I) [below of=G] {};
+                \node[state] (J) [left of=I] {};
+                \node[state] (K) [below of=C] {};
+                \node[state] (L) [below of=K] {};
+                \node[state] (M) [left of=K] {};
+                \node[state] (N) [below of=M] {};
+                \node[state] (O) [left of=N] {};
+
+                \path
+                    (A)edge(B)(B)edge(C)(C)edge(D)(D)edge(E)(E)edge(F)(F)edge(G)(G)edge(I)(I)edge(J)(J)edge(H)(H)edge(D)
+                    (C)edge(K)
+                    (K)edge(L)
+                    (K)edge(M)
+                    (M)edge(N)
+                    (N)edge(O);
+            \end{tikzpicture}
+        \end{enumerate}
+\end{document}
+