  We introduce and show preliminary results of a fast randomized method that
finds a set of K paths lying in distinct homotopy classes. We frame the path
planning task as a graph search problem, where the navigation graph is based on
a Voronoi diagram. The search is biased by a cost function derived from the
social force model that is used to generate and select the paths. We compare
our method to Yen's algorithm, and empirically show that our approach is faster
to find a subset of homotopy classes. Furthermore our approach computes a set
of more diverse paths with respect to the baseline while obtaining a negligible
loss in path quality.
