I am spending a lot of time in understanding these two concepts, because in several papers that I read, they define them differently, and I do not know exactly what is the meaning of the two different queries.
I understand, from what I read, that single query algorithm, like RRT, they only compute a single path between an starting point and a goal point, and anything else.
However, multiple query algorithms, like PRM, you construct a roadmap, and once you have it, you can query it for multiples paths, I mean, you can select two points (init and goal), and then if you change your opinion you can change these two points with others.
But I do not know if this approach is correct. I would love that someone can explain me in layman terms.