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A fast, parallel method for computing configuration space maps is presented. The method is made possible by recognizing that one can compute a family of primitive maps which can be combined by superposition based on the distribution of real obstacles. This motion planner has been implemented for the first three degrees-of-freedom of a Puma robot in *Lisp on a Connection Machine with 8 K processors. A six degree-of-freedom version of the algorithm which performs a sequential search of the six-dimensional configuration space, building three-dimensional cross sections in parallel, has also been implemented.>
Lozano‐Pérez et al. (Tue,) studied this question.