Algorithm 1 CERRT(xstart, xgoal, dstep, dgap, N, Map) 1: T = {xstart}; 2: V = T; 3: xstart.CAND = initTree(xstart); 4: for i = 1 to N do 5: xrand = GetSample(i); 6: (xnearest, nearidx) = GetNearest(V, xrand); 7: (xnew, newidx) = min(distance(xnearest....