Revisiting Bounded-Suboptimal Safe Interval Path Planning
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.
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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. Retrieved from https://ojs.aaai.org/index.php/ICAPS/article/view/6674