@article{Yakovlev_Andreychuk_Stern_2020, title={Revisiting Bounded-Suboptimal Safe Interval Path Planning}, volume={30}, url={https://ojs.aaai.org/index.php/ICAPS/article/view/6674}, DOI={10.1609/icaps.v30i1.6674}, abstractNote={<p>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.</p>}, number={1}, journal={Proceedings of the International Conference on Automated Planning and Scheduling}, author={Yakovlev, Konstantin and Andreychuk, Anton and Stern, Roni}, year={2020}, month={Jun.}, pages={300-304} }