  In this paper, we investigate the Walk on Spheres algorithm (WoS) for motion
planning in robotics. WoS is a Monte Carlo method to solve the Dirichlet
problem developed in the 50s by Muller and has recently been repopularized by
Sawhney and Crane, who showed its applicability for geometry processing in
volumetric domains. This paper provides a first study into the applicability of
WoS for robot motion planning in configuration spaces, with potential fields
defined as the solution of screened Poisson equations. The experiments in this
paper empirically indicate the method's trivial parallelization, its
dimension-independent convergence characteristic of $O(1/N)$ in the number of
walks, and a validation experiment on the RR platform.
