{"id":16899659,"url":"https://github.com/rexledesma/rrt-star","last_synced_at":"2026-05-07T15:45:26.723Z","repository":{"id":113849271,"uuid":"184445494","full_name":"rexledesma/RRT-Star","owner":"rexledesma","description":"An Implementation of RRT* from \"Incremental Sampling-based Algorithms for Optimal Motion Planning\" by Karaman et al. 2010","archived":false,"fork":false,"pushed_at":"2019-05-02T01:59:13.000Z","size":229,"stargazers_count":0,"open_issues_count":1,"forks_count":0,"subscribers_count":1,"default_branch":"master","last_synced_at":"2025-01-25T12:27:26.019Z","etag":null,"topics":["path-planning","robotics","rrt","rrt-star","sample-based-learning"],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/rexledesma.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2019-05-01T16:23:40.000Z","updated_at":"2022-11-27T16:16:13.000Z","dependencies_parsed_at":null,"dependency_job_id":"8880a614-386b-4250-a512-382ff3fb7990","html_url":"https://github.com/rexledesma/RRT-Star","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/rexledesma%2FRRT-Star","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/rexledesma%2FRRT-Star/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/rexledesma%2FRRT-Star/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/rexledesma%2FRRT-Star/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/rexledesma","download_url":"https://codeload.github.com/rexledesma/RRT-Star/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":244609632,"owners_count":20480819,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["path-planning","robotics","rrt","rrt-star","sample-based-learning"],"created_at":"2024-10-13T17:49:44.510Z","updated_at":"2026-05-07T15:45:21.700Z","avatar_url":"https://github.com/rexledesma.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# RRT-Star\n\nAn Implementation of RRT* from [\"Incremental Sampling-based Algorithms for Optimal Motion Planning\" by Karaman et al. 2010](https://arxiv.org/pdf/1005.0416.pdf).\n\n![](assets/demo.gif)\n\n## Inspiration\n\nA similar demonstration is shown in this [robotics lecture from the University\nof Houston](https://www.youtube.com/watch?v=Ob3BIJkQJEw), and is also hosted on\n[Wolfram](http://demonstrations.wolfram.com/RapidlyExploringRandomTreeRRTAndRRT/).\n\n## Usage\n\nDependent on [`tkinter`](https://docs.python.org/3/library/tkinter.html) for GUI\ncapabilities, and [`numpy`](https://www.numpy.org/) for computations.\n\n```bash\npython3 rrtstar.py\n```\n\n## Desired Features\n\n- [x] Allow movement of start and goal state\n- [x] Change radius of goal state\n- [x] Add rectangular obstacles\n- [ ] Show total number of iterations passed\n- [ ] Show cost of shortest path to goal state\n- [ ] Allow ability to clear obstacles\n- [ ] Add exploration bias\n- [ ] Update shortest path if goal state is moved\n- [ ] Add restart button\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frexledesma%2Frrt-star","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Frexledesma%2Frrt-star","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frexledesma%2Frrt-star/lists"}