Resumen Motion planning arises in many application domains such as computer animation (digital actors), mixed reality systems and intelligent CAD (virtual prototyping and training), and even computational biology and chemistry (protein folding and drug design). Surprisingly, a single class of planners called probabilistic roadmap methods (PRMs), have proven effective on problems from all these domains. Strengths of PRMs, in addition to versatility, are simplicity and efficiency, even in high-dimensional configuration spaces.