Expand description
Safe Interval Path Planning (SIPP)
Plans paths in space-time by computing “safe intervals” at each grid cell and searching over (cell, interval) pairs. This avoids expanding every discrete timestep and efficiently handles dynamic obstacles with known trajectories.
Reference: Phillips & Likhachev, “SIPP: Safe Interval Path Planning for Dynamic Environments”, ICRA 2011.
Structs§
- Dynamic
Obstacle - A dynamic obstacle occupying a cell during a time interval.
- Interval
- A half-open time interval
[start, end).end == u64::MAXmeans unbounded. - Sipp
Config - Configuration for the SIPP planner.
- Sipp
Planner - Safe Interval Path Planning (SIPP) planner.
- Timed
Waypoint - A waypoint in the planned path, including the arrival time.
Type Aliases§
- Sipp
Path - Result of SIPP planning.