# Safe Interval Randomized Path Planning For Manipulators

arXiv: https://arxiv.org/abs/2412.19567 · HTML: https://mlsanity.com/paper/2412.19567/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 27 Dec 2024.

## Built on by (most cited first, 2 of 2)

- [Search-Based Spatiotemporal and Multi-Robot Motion Planning on Graphs of Space-Time Convex Sets](https://mlsanity.com/paper/2607.00444/) (2026)
- [Optimal Planning in a Dynamic World](https://mlsanity.com/paper/2610.03312/) (2026)

## Abstract (arXiv)

Planning safe paths in 3D workspace for high DoF robotic systems, such as manipulators, is a challenging problem, especially when the environment is populated with the dynamic obstacles that need to be avoided. In this case the time dimension should be taken into account that further increases the complexity of planning. To mitigate this issue we suggest to combine safe-interval path planning (a prominent technique in heuristic search) with the randomized planning, specifically, with the bidirectional rapidly-exploring random trees (RRT-Connect) - a fast and efficient algorithm for high-dimensional planning. Leveraging a dedicated technique of fast computation of the safe intervals we end up with an efficient planner dubbed SI-RRT. We compare it with the state of the art and show that SI-RRT consistently outperforms the competitors both in runtime and solution cost. Our implementation of SI-RRT is publicly available at https://github.com/PathPlanning/ManipulationPlanning-SI-RRT