Grab Bag Release: Rapidly-Exploring Random Trees

Almost there! I’ve finished the implementation of Rapidly-Exploring Random Trees, and added the Random Number Generator implemented by Denis Vaz Alves to the Grab Bag.

Next up are algorithms for the computation of Shortest Paths, and I’m done!

Rapidly-Exploring Random Trees

Rapidly-Exploring Random Trees are a randomized data structure designed by Steven M. LaValle for a broad class of path planning problems.

Rapidly-Exploring Random TreeEach tree lives in a configuration space that allows making motions from one configuration towards another, and has a distance function imposed on. Given a configuration space and an initial configuration, the tree can grow around that configuration until it is unable to make any further motions.