# Revisiting Bounded-Suboptimal Safe Interval Path Planning

arXiv: https://arxiv.org/abs/2006.01195 · HTML: https://mlsanity.com/paper/2006.01195/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 1 Jun 2020.

## Built on by (most cited first, 3 of 3)

- [Safe Interval Path Planning With Kinodynamic Constraints](https://mlsanity.com/paper/2302.00776/) (2023)
- [Prioritized SIPP for Multi-Agent Path Finding With Kinematic Constraints](https://mlsanity.com/paper/2108.05145/) (2021)
- [Multi-objective Conflict-based Search Using Safe-interval Path Planning](https://mlsanity.com/paper/2108.00745/) (2021)

## Abstract (arXiv)

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.