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AAAI 2020Embodied agentsRussian Academy of SciencesFederal Research Center “ComputePeoples' Friendship University oBen-Gurion University of the Neg

Revisiting Bounded-Suboptimal Safe Interval Path Planning

Bounded-suboptimal SIPP variants trade solution optimality for faster planning, with no universal best method.

Konstantin Yakovlev, Anton Andreychuk, Roni Stern

Published Jun 1, 202020 citationsPaper ↗

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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.