Common Lisp implementation of RRT (Rapidily exploring Random Tree), a fast probabilistic multidimentional path-plannning algorithm. Note: It will still work, but it is an old work. I think the implementation is not be very efficient because my lisp hacking has significantly improved since when I wrote this library.
The function split-branch-rrt-search takes an argument new-vs-generator which is expected to return a list of new VS. But instead of expecting a list, it expects multiple values, and convert it to list itself. That means that if the number of new VS is larger than multiple-values-limit, you get an error for too many multiple values.
Since it needs a list, it is better to make it expect a list. In the test (split-edges.lisp), it is called with a function new-vs that creates a list, and then use values-list to convert it to values (where you actually gets the error).