A computer system, computer-implemented method and computer program product are provided for enabling parallel processing of determining collision-free paths for a vehicle to navigate from a start location to a target location. The system receives representations of the start location (SL), the target location (TL) and one or more polygonal representations of one or more potential collision objects and initializes a representation of the vehicle with the start location (SL) as current location (CL), and with a list of targets (LOT) comprising the received target location (TL) as most recent target location. Then it iteratively constructs a graph of collision-free path segments by determining whether a collision object is located on a direct connection between the current location and the most recent target location in the list of targets, and repeating a series of steps for each vehicle representation.