rrt-rs

Rust library containing multiple Rapidly-exploring Random Tree variants for trajectory planning and behavior generation that were compared in A Comparative Study of Rapidly-exploring Random Tree Algorithms Applied to Ship Trajectory Planning and Behavior Generation.

Wrapped for use with Python. Uses PyO3 as interface, and maturin for building the library as a Python package. Typically used with the colav-simulator framework for generating obstacle ship trajectories or as an own-ship trajectory planner.

Citation

If you are using RRTs for ship trajectory planning or behavior generation in your work, please use the following citation:

@article{tengesdal2025comparative,
  title={A Comparative Study of Rapidly-exploring Random Tree Algorithms Applied to Ship Trajectory Planning and Behavior Generation},
  author={Tengesdal, Trym and Pedersen, Tom Arne and Johansen, Tor Arne},
  journal={Journal of Intelligent \& Robotic Systems},
  volume={111},
  number={1},
  pages={1--19},
  year={2025},
  publisher={Springer}
}

Installation and usage in Python

Install rustup on your computer: (https://www.rust-lang.org/tools/install):

curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh

Install uv (https://docs.astral.sh/uv/getting-started/installation/):

curl -LsSf https://astral.sh/uv/install.sh | sh

Install project:

uv sync --group test # To get colav-simulator aswell
uv run maturin develop --uv

The rust library is now built and installed as a Python package.

Run/debug an example under examples/ to check the installation.

Future enhancements/todos

• Properly separate the rust library functionality from the PyO3 wrapping framework, to allow for easy usage in Rust without considering Python.
• Use optimization-based steering.