Path Planning with Motion Primitives in Dynamic Environments: SIPP on Lattices

arXiv:2609.31803 · cs.RO · Submitted 2026-09-25 · Read on arXiv

cs.RO

Submitted: 2026-09-25

Updated: 2026-09-25

Code: https://github.com/PathPlanning/LatticeSIPP

Terminology

• Motion Primitives — 12× in this paper · explained in 2 episodes
• Safe Interval Path Planning — 8× in this paper
• Benchmark — 7× in this paper · explained in 2 episodes
• Trace — 5× in this paper · explained in 2 episodes
• Multi-Agent Path Finding — 3× in this paper
• Adaptation — 2× in this paper · explained in 1 episode
• Computational overhead — 2× in this paper · explained in 2 episodes
• Abstraction — 1× in this paper · explained in 1 episode
• Computational Tractability — 1× in this paper · explained in 2 episodes
• Conflict-Based Search (CBS) — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Steering — 1× in this paper · explained in 2 episodes

Sources

• Any-Angle Pathfinding for Multiple Agents Based on SIPP Algorithm

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