><a href="http://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2013a</a><br></p></div><!--
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%% rrt_star_fn
% *RRT*FN* is a memory efficient variant of RRT*. It inherents all
% the optimization features of RRT*, but in contrast using limited
% number of nodes i.e. memory is limited.
%
%% Syntax
%  problem = rrt_star(map, max_iter, max_nodes, is_benchmark, rand_seed, variant)
%  function returns the object of the respective class with the result
%
%% Input
%  map     