function buildRRT()
    % Load the data from the previously generated PRM
    data = load('robot_arm_data.mat');
    q1q2_valid = data.q1q2_valid;
    connectionMap = data.connectionMap;

    % Parameters for the robot arm
    L1 = 2; % Length of the first link in mm
    L2 = 1; % Length of the second link in mm

    % Define start and goal points (as column vectors)
    S = [2; 0];
    G = [-2; 0];

    % Initialize tree with start point
    tree = S;
    reachedGoal = false;

    % Define a threshold for when the goal is considered reached
    someThreshold = 0.1; % This is an example value; adjust as needed for your application

    % Define the maximum number of iterations to prevent infinite loop
    maxIterations = 1000;

    % Define the maximum branch length
    maxBranchLength = 0.5; % This is an example value; adjust as needed for your application

    for i = 1:maxIterations
        % Sample a random point in C-space
        r = [randRange(-L1-L2, L1+L2); randRange(-L1-L2, L1+L2)];

        % Find the closest point in the tree to r
        [p, idx] = findClosestPoint(tree, r);

        % Compute the direction and length to the random point
        direction = r - p;
        distance = norm(direction);
        if distance > maxBranchLength
            % Scale the branch to the maximum branch length
            r = p + (direction / distance) * maxBranchLength;
        end

        % Check if new branch intersects an obstacle
        if ~isLineIntersectingObstacle(p, r, L1, L2)
            % Add the branch to the tree
            tree = [tree, r];

            % Check if we have reached the goal
            if norm(r - G) < someThreshold
                reachedGoal = true;
                break;
            end
        end
    end

    if reachedGoal
        % Compute path from start to goal
        path = computePath(tree, idx, G);

        % Add direct lines between any two points if obstacle-free
        path = optimizePath(path, L1, L2);

        % Plot the tree and the path
        plotRRT(tree, path, S, G);
    else
        error('Failed to reach the goal within the maximum number of iterations.');
    end
end