Revisiting Bounded-Suboptimal Safe Interval Path Planning

Konstantin Yakovlev, Anton Andreychuk, Roni Stern

PosterID: 17 PDF Poster BibTeX

Safe-interval path planning (SIPP) is a powerful approach for finding a path in the presence of dynamic obstacles and continuous time. SIPP is based on the A* algorithm and returns provably optimal solutions. However, in many practical applications of SIPP such as path planning for robots, one would like to trade-off solution cost optimality for shorter planning time. In this paper we explore different ways to build a bounded-suboptimal SIPP and discusses 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.

Session E8: Search
Canb 10/28/2020, 00:00 – 01:00
10/29/2020, 17:00 – 18:00
Paris 10/27/2020, 14:00 – 15:00
10/29/2020, 07:00 – 08:00
NYC 10/27/2020, 09:00 – 10:00
10/29/2020, 02:00 – 03:00
LA 10/27/2020, 06:00 – 07:00
10/28/2020, 23:00 – 00:00