TY - JOUR
T1 - Revisiting bounded-suboptimal safe interval path planning
AU - Yakovlev, Konstantin
AU - Andreychuk, Anton
AU - Stern, Roni
N1 - Funding Information:
This work was partially funded by RFBR (project 18-37-20032). Anton Andreychuk is supported by the “RUDN University Program 5-100”. Roni Stern is supported by ISF grant #210/17.
Publisher Copyright:
Copyright © 2020, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved.
PY - 2020/5/29
Y1 - 2020/5/29
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85088513185&partnerID=8YFLogxK
M3 - Conference article
AN - SCOPUS:85088513185
SN - 2334-0835
VL - 30
SP - 300
EP - 304
JO - Proceedings International Conference on Automated Planning and Scheduling, ICAPS
JF - Proceedings International Conference on Automated Planning and Scheduling, ICAPS
T2 - 30th International Conference on Automated Planning and Scheduling, ICAPS 2020
Y2 - 26 October 2020 through 30 October 2020
ER -