Suppose we are handed a map of smooth manifolds and would like to know if it is homotopic to an immersion. In general this problem is undecidable, indeed even immersibility of an arbitrary manifold into $\mathbb{R}^n$ is undecidable. In this talk we will see how to use techniques from rational homotopy theory, and the h-principle of Hirsch and Smale to provide an algorithm for this problem whenever the codimension of the manifolds is odd.