This case shows the modified RRT works fairly well. It actually saved
quite a lot of time in finding the paths by filter out all the junk nodes.
Robots are in their initial positions and the final positions with orientations
of the robots are shown as light blue boxes.
The sharezone tolerance distance is 2*( half length of the car-like
robots).
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| Fig.2. Case 2 path planning | Fig. 2.2 Case 2 animation |