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 siÎS do
4: Find k neighbors for si, Nk(si)
5: for each configuration siÎNk(si) do
6: if j > i and the local planner can find a collision-free path from si to sj
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.