Over the last few years, Probabilistic Roadmaps
(PRMs) have emerged as a powerful approach for
solving complex motion planning problems in robotics.
Even beyond robotics, PRMs can be used to predict
motions of biological macro-molecules such as
proteins and synthesize motions for digital actors.
Current PRM-based research focuses on challenges that
arise as PRMs are being applied to motion planning
problems in various scenarios. In response to some of
those challenges, the following four contributions
are being made in this thesis: (1) a dynamic checker
for PRMs that exactly determines...