A new backtracking algorithm is developed for generating classes of permutations, that are invariant under the group $G_4$
of rigid motions of the square generated by reflections about the horizontal and vertical axes. Special cases give a new algorithm for generating solutions of the classical $n$ -queens problem, as well as a new algorithm for generating Costas sequences, which are used in encoding radar and sonar signals. Parallel implementations of this latter algorithm have yielded new Costas
sequences for length $n$ , $19\le n\le 24$ .