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This paper addresses the problem of path planning in environments in which some of the obstacles can change their positions. It uses the popular PRM method for navigating a robot through an environment. One of the key features of PRM is that it moves the major part of the calculations involved in the path planning process to the preprocessing phase. After that, paths can be extracted very quickly (in a query phase) usually without any noticeable delay. While very successful in manydoi:10.1109/iros.2007.4398976 dblp:conf/iros/NieuwenhuisenBO07 fatcat:h5gc3swkzbazxgboyo27xno3oe