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A method is presented for computation of obstacle bound aries in configuration space, with particular emphasis on time efficiency. Properties of configuration space transfor mations are presented in general, and these properties are invoked in algorithms that result in highly efficient com putations. The approach depends on the definition of a set of primitives, which are themselves efficiently trans formed and may be combined logically to construct more complex transformations. The concepts are illustrated with both computed and empirically obtained configura tion space obstacles in two and three dimensions. Perfor mance data for real-time transformations are reported.

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