Revisiting Bounded-Suboptimal Safe Interval Path Planning

Abstract: Safe-interval path planning (SIPP) is a powerful approach for finding a path in the presence of dynamic obstacles and continuous time. SIPP is based on the A* algorithm and returns provably optimal solutions. However, in many practical applications of SIPP such as path planning for robots, one would like to trade-off solution cost optimality for shorter planning time. In this paper we explore different ways to build a bounded-suboptimal SIPP and discusses 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.

16/11/2020

Noah Siegel, Jost Tobias Springenberg, Felix Berkenkamp and
Abbas Abdolmaleki, Michael Neunert, Thomas Lampe, Roland Hafner, Nicolas Heess, Martin Riedmiller

Revisiting Bounded-Suboptimal Safe Interval Path Planning

Konstantin Yakovlev, Anton Andreychuk, Roni Stern

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