Here's the original paper: http://people.ee.duke.edu/~sorin/papers/rss16_chip.pdf http://people.ee.duke.edu/~sorin/papers/rss16_chip.pdf In short: collision de

Here's the original paper: http://people.ee.duke.edu/~sorin/papers/rss16_chip.pdf http://people.ee.duke.edu/~sorin/papers/rss16_chip.pdf In short: collision detection checking across all of the edges in a PRM graph takes 99% of planning time and can be done compeletely independently.