5.5.3 Using the Trees for Planning

So far, the discussion has focused on exploring $ {\cal C}_{free}$, but this does not solve a planning query by itself. RRTs and RDTs can be used in many ways in planning algorithms. For example, they could be used to escape local minima in the randomized potential field planner of Section 5.4.3.


Steven M LaValle 2012-04-20