2D RRT Animation
The following animated GIF shows the incremental construction of an
RRT in a square region. The initial state is in the center. Each
RRT edge has length 1, and the square has dimensions 100x100.
The following sequence of images shows the Voronoi diagram of the RRT
vertices during several stages of RRT construction. Note that larger
Vonoroi regions appear on the frontier, biasing the exploration to the
unexplored portion of the space.
Eventually, the larger Voronoi regions disappear as the RRT gradually
fills the space.
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Web page maintained by Steve LaValle