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I was in a bit of a rush putting this article together, and therefore the text in the introduction is more or less copied from the [ page]. Not only does the article need to be expanded, but this paragraph needs some rewriting. — Stimpy _talk 16:52, 6 November 2007 (UTC) reply

• What is the motivation of using NEW_CONF(qnear, Δq) as opposed to qnear?
• '"←" is a loose shorthand for "changes to".' how is it loose? —Preceding unsigned comment added by 212.201.44.249 ( talk) 16:26, 5 June 2009 (UTC) reply

I felt bold and deleted the word "loose" from the {{ algorithm-end}} template a few moments ago. —  Pt  _(T) 20:29, 7 April 2012 (UTC) reply

I'm going to make an effort to clean up this article so I can add a mention of the optimal variant of RRT, RRT*, that has become quite popular in robotics. — Nutshell1524 ( talk) 15:31, 16 September 2013 (UTC) reply

Shoud insert a link to crack models as the patterns are essentially the same. 77.13.248.157 ( talk) 06:17, 23 October 2014 (UTC) reply