(c) 2001 Matthias S. Benkmann <m.s.b (a) gmx.net>
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This article gives a short overview of methods used for planning the movements of abstract objects with several degrees of freedom, followed by a complete discussion of a probabilistic roadmap-based approach. The algorithm described is well-suitable to many motion planning problems in (mostly) static environments. The article describes the algorithm in general terms and also gives a discussion of implementation details and possible optimizations.