Why it matters

PRM enables many-query planning. Understanding shapes planning.

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The architecture

Sample n points + collision-check.

Connect to k-nearest (edge if visible).

Query: A* on graph.

PRM structureSample pointsn randomConnect neighborsk-nearest visibleQueryA* on graphPreprocessing pays off for multiple queries; single-query prefers RRT
PRM.
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How it works end to end

Kavraki et al. 1996.

Preprocessing offline.

Query O(A*).

PRM* asymptotically optimal.