Articles and Presentations


Available Publications (co-authored by LaValle) on RRTs

An article from game developers

Wikipedia entry


Rapidly-Exploring Random Trees and Motion Strategy Algorithms by Steven M. LaValle, 1999.
(This is a combined collection of slides that were merged from talks given at INRIA Rhone-Alpes, INRIA Sophia-Antipolis, Texas A&M, Northwestern, Penn State, Carnegie Mellon, and ICRA in 1999. It mostly focuses on planning under differential constraints, which I was mainly interested in at that time. Most RRT uses to date, however, are for ordinary motion planning problems.)

For a more recent perspective, see my book, especially Sections 5.5 and 14.4.

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