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Revisiting Bounded-Suboptimal Safe Interval Path Planning

Authors

Konstantin Yakovlev,Anton Andreychuk,Roni Stern

Federal Research Center for Computer Science and Control of Russian Academy of Sciences,Peoples' Friendship University of Russia,Ben Gurion University of the Negev


Proceedings:

Book One

Volume

Issue:

Proceedings of the International Conference on Automated Planning and Scheduling, 30

Track:

Main Track

Downloads:

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Abstract:

Safe-interval path planning (SIPP) is a powerful algorithm for finding a path in the presence of dynamic obstacles. SIPP returns provably optimal solutions. However, in many practical applications of SIPP such as path planning for robots, one would like to trade-off optimality for shorter planning time. In this paper we explore different ways to build a bounded-suboptimal SIPP and discuss their pros and cons. We compare the different bounded-suboptimal versions of SIPP experimentally. While there is no universal winner, the results provide insights into when each method should be used.

DOI:

10.1609/icaps.v30i1.6674


ICAPS

Proceedings of the International Conference on Automated Planning and Scheduling, 30