Software

The Motion Strategy Library includes many RRT-based algorithms and examples.

Old Software

This is an old LEDA-based library. Since LEDA is no longer free for academic use, you probably don't want to download this. This code evolved into the Motion Strategy Library, which replaces the RRT Planner software. I keep it here just in case someone wants the older versions. These were developed at Iowa State University.

RRT Planner, Release 0.3 (9/18/00) [tar file] [README]
This version fixes some bugs from 0.2. The most important change is that ANN should work for all planners now, although a Euclidean metric is still assumed. Also, bugs in the linear interpolation functions in model.C have been fixed.
RRT Planner, Release 0.2 (12/31/99) [tar file]
This version includes several bug fixes from 0.1, including errors in a couple of the car-like robot models and in the kinematics of chains of rigid bodies. New models have been added: ModelLinear (general linear systems), ModelNintegrator (a nonholonomic integrator). Animated GIFs can be constructed automatically (although the installation might be tricky). There are several known bugs: the ANN fast nearest neighbors does not work with dual-RRT planners; several metrics in model.C are not weighted Euclidean.
RRT Planner, Release 0.1 (10/19/99) [tar file]

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Web page maintained by Steve LaValle