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

Kód výsledku v 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>

Nalezeny alternativní kódy

RIV/68407700:21730/21:00354137

Výsledek na webu

<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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Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

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OECD FORD obor

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

Projekt

<a href="/cs/project/EF15_003%2F0000470" target="_blank" >EF15_003/0000470: Robotika pro Průmysl 4.0</a><br>

Návaznosti

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

Rok uplatnění

2021

Kód důvěrnosti údajů

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

Název statě ve sborníku

Proceedings of the International Symposium on Combinatorial Search

ISBN

9781713834557

ISSN

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e-ISSN

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Počet stran výsledku

5

Strana od-do

136-140

Název nakladatele

Association for the Advancement of Artificial Intelligence (AAAI)

Místo vydání

Palo Alto, California

Místo konání akce

Virtual conference

Datum konání akce

26. 7. 2021

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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