# Dancing PRM*: Simultaneous Planning of Sampling and Optimization with Configuration Free Space Approximation

> Research article (2018 IEEE International Conference on Robotics and Automation (ICRA), 2018) · cited 16× · AI/ML

**Wikidata**: [openalex:W2892184971](https://www.wikidata.org/wiki/openalex:W2892184971)  
**Source**: https://4ort.xyz/entity/dancing-prm-simultaneous-planning-of-sampling-and-optimization-with-configuration-free-space-approximation