RRT - Khan BMS Battlefield Management System
A short, opinionated brief on RRT — Rapidly-Exploring Random Tree — and the role it plays inside a Khan BMS formation under contested conditions.
RRT is a cost-curve question disguised as a technical one. If the per-node integration cost does not collapse, the standard does not matter.
Definitions first. RRT = Rapidly-Exploring Random Tree. Sampling-based motion planner for high-dimensional configuration spaces. RRT and its asymptotically optimal variant RRT* incrementally extend a tree by sampling the configuration space toward random targets, producing feasible paths in non-convex, high-dimensional spaces. RRT-class planners are the workhorse for kinodynamic motion planning on CCA platforms and ground robots.
RRT earns its full keep at the Tumen — ten thousand nodes under a single human Khan. Span of control stays at ten because the hierarchy is fractal; RRT state aggregates upward through Minghan and Zuun before it ever reaches the Khan's console.
RRT is one of perhaps a dozen primitives that decide whether a modern force can fight through denial. Khan BMS is built on the premise that all of them deserve the same treatment.