a Search Lazy prm algorithm Build roadmap qinit qgoal Start and Goal nodes Build roadm Uniform Dist Nodes Nearest Neighbors Shortest Node Path(a") nhanceme ent Remove Colliding node/edge No path found Collision Check edges CollisioA* Search Lazy PRM Algorithm „ Build Roadmap „ Start and Goal Nodes „ Uniform Dist Nodes „ Nearest Neighbors Build Roadmap Shortest Path (A*) Check Nodes Check Edges Remove Colliding node/edge Node Enhancement Collision Collision No path found qinit, qgoal