Simulation
^^^^^^^^^^

.. code-block:: ipython3

    from IPython.display import Image
    Image(filename="Figure_1.png",width=600)




.. image:: rrt_star_files/rrt_star_1_0.png
   :width: 600px



.. figure:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/RRTstar/animation.gif
   :alt: gif

   gif

Ref
^^^

-  `Sampling-based Algorithms for Optimal Motion
   Planning <https://arxiv.org/pdf/1105.1186.pdf>`__