Rapidly Exploring Random Trees

(written by lawrence krubner, however indented passages are often quotes). You can contact lawrence at: lawrence@krubner.com

Interesting. It says the RRT proceeds by breaking the Voronoi spaces into smaller Voronoi spaces. The algorithm has a bias towards unexplored territory, unlike a purely random algorithm, which tends to loop back to explored space. I didn’t dig into the algorithm, but I can imagine how this would be useful in some situations.