Revisiting bounded-suboptimal safe interval path planning

Konstantin Yakovlev, Anton Andreychuk, Roni Stern

Research output: Contribution to journalConference articlepeer-review

3 Scopus citations

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.

Original languageEnglish
Pages (from-to)300-304
Number of pages5
JournalProceedings International Conference on Automated Planning and Scheduling, ICAPS
Volume30
StatePublished - 29 May 2020
Event30th International Conference on Automated Planning and Scheduling, ICAPS 2020 - Nancy, France
Duration: 26 Oct 202030 Oct 2020

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Information Systems and Management

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