RT（快速扩展随机树）是一种基于采样的算法求解路径规划问题。RRT提供可行的解如果时间RRT趋于无穷大。
RRT *是一个基于采样的算法为解决运动规划问题，这是一个概率最优变异性。RRT *收敛到最优解的渐近。
RRT * FN是一个基于采样的算法基于RRT *。RRT * FN内在渐近收敛到最优解，然而RRT * FN实现使用更少的内存(RRT (Rapidly-Exploring Random Tree) is a sampling-based algorithm for solving path planning problem. RRT provides feasable solution if time of RRT tends to infinity.

RRT* is a sampling-based algorithm for solving motion planning problem, which is an probabilistically optimal variant of RRT. RRT* converges to the optimal solution asymptotically.

RRT*FN is a sampling-based algorithm based on RRT*. RRT*FN inherents asymptotical convergence to the optimal solution, however RRT*FN implements it using less memory.)