Outline Probabilistic roadmaps Planning in the real world Planning amidst moving obstacles RRT-based planners Conclusions pplicability of lazy prm to Spheres By Paul elliottOutline ƒ Probabilistic roadmaps ƒ Planning in the real world ƒ Planning amidst moving obstacles ƒ RRT-based planners ƒ Conclusions Applicability of Lazy PRM to Spheres By Paul Elliott