Safe Interval Path Planning with Kinodynamic Constraints
Authors: Zain Alabedeen Ali, Konstantin Yakovlev
AAAI 2023 | Conference PDF | Archive PDF | Plain Text | LLM Run Details
| Reproducibility Variable | Result | LLM Response |
|---|---|---|
| Research Type | Experimental | In the experimental evaluation, we show that the key property of the original SIPP still holds for the modified version: it performs much fewer expansions compared to A* and, as a result, is notably faster. To empirically evaluate it, we have conducted a wide range of experiments in which we compare SIPP-IP to several baselines that include other (noncomplete) variants of SIPP one may think of and A*. |
| Researcher Affiliation | Collaboration | Zain Alabedeen Ali1, Konstatin Yakovlev2, 3 1 Moscow Institute of Physics and Technology, Moscow, Russia 2 Federal Research Center for Computer Science and Control of Russian Academy of Sciences, Moscow, Russia 3 AIRI, Moscow, Russia |
| Pseudocode | Yes | The pseudo-code of SIPP-IP is presented in Algorithm 1. |
| Open Source Code | Yes | The C++ source code of all planners is publicly available https://github.com/PathPlanning/SIPP-IP. |
| Open Datasets | Yes | We have used five different maps from the Moving AI benchmark (Sturtevant 2012) for the experiments: empty (sized 64x64), room (64x64), warehouse (84x170), random (128x128) and Sydney (256x256). |
| Dataset Splits | No | The paper uses "generated instances" and "successfully solved instances" but does not explicitly state dataset splits for training, validation, and testing of models, only the test scenarios setup. |
| Hardware Specification | Yes | The experiments were conducted on a PC with Intel Core i7-10700F CPU @ 2.90GHz 16 and 32Gb of RAM. |
| Software Dependencies | No | The paper mentions that the source code is C++ but does not provide specific version numbers for compilers, libraries, or other software dependencies. |
| Experiment Setup | Yes | The agent was modeled as a disk whose diameter equals the length of the grid cell. The configuration is defined as (x, y, θ, vel) where x, y are the coordinates of the cell, θ {0 , 90 , 180 , 270 } is the orientation, and vel {0, 2} is the velocity of the agent. ... The time step is chosen to be 0.1 s. Collision checking is conservative. ... We imposed a limit of 100, 000, 000 of generated nodes for all algorithms. |