The widespread use of robots in a variety of industrial processes during the 1980s and 1990sbrought the need for generating trajectories to the foreground which were free from collisions between a robot and the environment it interacted with Goldman, 1990.
En las décadas de los ochenta y noventa la popularidad de los robots y sus múltiples usos en la industria hicieron que los investigadores y programadores se dedicaran a resolver el problema de concebir trayectorias libres de colisiones entre los robots y su entorno Goldman, 1990.