<story><title>Working on The Witness, Part 1 (2012)</title><url>http://mollyrocket.com/casey/stream_0006.html</url></story><parent_chain></parent_chain><comment><author>Schwolop</author><text>It&amp;#x27;s not an RRT[1] if it doesn&amp;#x27;t employ a Voronoi bias to sample within the largest Voronoi cell. Since the first paragraph describing the &amp;quot;RRT&amp;quot; implementation admits it didn&amp;#x27;t explore properly, it really wasn&amp;#x27;t an RRT. This is a pity, because a &lt;i&gt;proper&lt;/i&gt; RRT (or better still, a PRM[2] with the monster walking every edge) would really have been a great way to handle this!&lt;p&gt;[1] Rapidly-Exploring Random Tree. Without the Voronoi bias it&amp;#x27;s not rapidly-exploring, so it&amp;#x27;s just a random tree (RT) instead.&lt;p&gt;[2] Probabilistic RoadMap. Similar to an RRT except that samples are connected to all close samples within some neighbourhood function.</text></comment>
<story><title>Working on The Witness, Part 1 (2012)</title><url>http://mollyrocket.com/casey/stream_0006.html</url></story><parent_chain></parent_chain><comment><author>captn3m0</author><text>The post is dated Dec 2012, and the Witness is still to be released. [0].&lt;p&gt;[0]: &lt;a href=&quot;http://the-witness.net/news/&quot; rel=&quot;nofollow&quot;&gt;http:&amp;#x2F;&amp;#x2F;the-witness.net&amp;#x2F;news&amp;#x2F;&lt;/a&gt;</text></comment>