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