Revisiting Bounded-Suboptimal Safe Interval Path Planning

Authors

  • Konstantin Yakovlev Federal Research Center for Computer Science and Control of Russian Academy of Sciences
  • Anton Andreychuk Peoples' Friendship University of Russia
  • Roni Stern Ben Gurion University of the Negev

DOI:

https://doi.org/10.1609/icaps.v30i1.6674

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.

ICAPS 2020 Proceedings Cover

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Published

2020-06-01

How to Cite

Yakovlev, K., Andreychuk, A., & Stern, R. (2020). Revisiting Bounded-Suboptimal Safe Interval Path Planning. Proceedings of the International Conference on Automated Planning and Scheduling, 30(1), 300-304. https://doi.org/10.1609/icaps.v30i1.6674

Issue

Vol. 30 (2020): Proceedings of the Thirtieth International Conference on Automated Planning and Scheduling

Section

Main Track