PRM Pseudocode

1: Generate a set of n configurations in free space S from some distribution

2: Let G = f, ethe empty graph on S.

3: for each configuration s_iÎS do

4: Find k neighbors for s_i, N_k(s_i)

5: for each configuration s_iÎN_k(s_i) do

6: if j > i and the local planner can find a collision-free path from s_i to s_j

7: then

8: add an edge (i,j) in G.

9: end if

10: end for

11: end for

12: return the graph G and the set S.