MeshSIPP: Efficient Lattice Planning in Dynamic Environment
Overview
MeshSIPP improves autonomous navigation by combining state lattices with Safe Interval Path Planning, achieving up to 3× speedup over existing methods through efficient pruning and validation of motion primitives. Experiments on 6,000 instances confirm its effectiveness. Latest: arXiv paper highlights its completeness and optimality in dynamic environments. Latest: arXiv:2610.09652v1
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- arXiv Robotics — research abstractsMeshSIPP: Efficient Lattice Planning in Dynamic Environment
This paper presents MeshSIPP, an efficient planner for autonomous navigation in dynamic environments that combines state lattices with Safe Interval Path Planning. By grouping motion primitives and deferring exact timing calculations, MeshSIPP achieves up to a 3× speedup over state-of-the-art spatiotemporal planners in extensive experiments.
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