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In industrial problems both the task and environment are often very complex. Local planners are not su cient and, since tasks often involve changing the environment, global planners are limited by time constraints. This paper adopts the notion that pre-processing of the known environment, in order to generate a roadmap, can signi cantly improve on-line path planning tasks. We present results obtained from an instance of the Ariadne's clew algorithm for path planning problems within the steamdoi:10.1109/robot.1996.503580 dblp:conf/icra/McLeanM96 fatcat:wqca3ryls5efhkoylrndlgevs4