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Jory Denny, Nancy M. Amato, "Toggle PRM: Simultaneous Mapping of C-free and C-obstacle - A Study in 2D -," In Proc. IEEE Int. Conf. Intel. Rob. Syst. (IROS), pp. 2632 - 2639, San Francisco, California, U.S.A., Sep 2011.
Proceedings(ps, pdf, abstract)

Motion planning is known to be difficult. Probabilistic planners have made great advances, but still have difficulty for problems that require planning in narrow passages or on surfaces in C-space. This work proposes Toggle PRM, a new methodology for PRMs that simultaneously maps both free and obstacle space. In this paper, we focus on 2 DOF problems and show that mapping both spaces leads to increased sampling density in narrow passages and to improved overall efficiency as compared to previous sampling based approaches.