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.
This video compliments the ICAPS 2020 paper in which we explore different ways to build a bounded-suboptimal SIPP and discuss their pros and cons.
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paper: https://aaai.org/ojs/index.php/ICAPS/article/view/6674
paper (arXiv): https://arxiv.org/abs/2006.01195
code: https://github.com/PathPlanning/SuboptimalSIPP
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