Towards Narrowing the Search in Bounded-Suboptimal Safe Interval Path Planning

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00354137" target="_blank" >RIV/68407700:21230/21:00354137 - isvavai.cz</a>

Alternative codes found

RIV/68407700:21730/21:00354137

Result on the web

<a href="https://ojs.aaai.org/index.php/SOCS/article/view/18562/18351" target="_blank" >https://ojs.aaai.org/index.php/SOCS/article/view/18562/18351</a>

DOI - Digital Object Identifier

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Result language

angličtina

Original language name

Towards Narrowing the Search in Bounded-Suboptimal Safe Interval Path Planning

Original language description

Path planning in the presence of dynamic obstacles is challenging as the time dimension has to be considered. A prominent approach to tackle this problem known to be complete and optimal is the A*-based Safe-interval Path Planning (SIPP). Bounded-suboptimal variants of SIPP employing the ideas of Weighted A* (WSIPP) and Focal Search (FocalSIPP) have been introduced recently, trading-off optimality for decreased planning time. In this paper, we revisit FocalSIPP and design several secondary heuristics for Focal Search with the intention to narrow the search in the direction of a preplanned optimal single-agent path not considering dynamic obstacles. The experimental results on various maps show that the designed heuristics generally outperform the hops-to-the-goal heuristic used in the original FocalSIPP and successfully compete with WSIPP as well.

Czech name

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Czech description

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Type

D - Article in proceedings

CEP classification

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OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

<a href="/en/project/EF15_003%2F0000470" target="_blank" >EF15_003/0000470: Robotics 4 Industry 4.0</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Publication year

2021

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

Proceedings of the International Symposium on Combinatorial Search

ISBN

9781713834557

ISSN

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e-ISSN

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Number of pages

5

Pages from-to

136-140

Publisher name

Association for the Advancement of Artificial Intelligence (AAAI)

Place of publication

Palo Alto, California

Event location

Virtual conference

Event date

Jul 26, 2021

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

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