It is also worth mentioning that the RRT_Connect algorithm has been used in a vary of applications with encouraging results. The main idea behind RRT_ Connect is to use two trees: one beginning from the start configuration, the other starting from goal configuration. Both trees grow towards each other simultaneously, allowing better convergence rates, as well as less computational cost due to the reduced number of collision checks.
La idea principal del RRT_Connect es el desarrollo de dos árboles que inician en los puntos inicial y final, ambos árboles crecen simultáneamente uno hacia el otro, permitiendo una mejora en la convergencia del algoritmo, así como en el tiempo de cómputo, debido al menor número de comprobaciones de colisión.