{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### Simulation"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "[encoded data, 159784 characters]\n",
      "text/plain": [
       "<IPython.core.display.Image object>"
      ]
     },
     "execution_count": 1,
     "metadata": {
      "image/png": {
       "width": 600
      }
     },
     "output_type": "execute_result"
    }
   ],
   "source": [
    "from IPython.display import Image\n",
    "Image(filename=\"Figure_1.png\",width=600)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "![gif](https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/RRTstar/animation.gif)\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### Ref\n",
    "\n",
    "- [Sampling-based Algorithms for Optimal Motion Planning](https://arxiv.org/pdf/1105.1186.pdf)"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.6.8"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}
