StochSIPP: Safe Interval Path Planning in Stochastic Dynamic Environments
TL;DR
StochSIPP is presented, an exact contingent planner for temporal roadmaps with uncertain edge and vertex statuses revealed locally during execution that preserves the observed success of safe fixed-path baselines while reducing arrival time, and solves gated scenarios in which conservative fixed-path planners return no plan.
Abstract
Safe navigation under uncertain time-dependent blockage requires anticipating observations before committing to motion. We present StochSIPP, an exact contingent planner for temporal roadmaps with uncertain edge and vertex statuses revealed locally during execution. StochSIPP uses SIPP to generate certified-safe macro-actions that terminate at the next observation or the goal, and bounded AND/OR search over a cached action--observation graph to select actions for every reachable observation outcome. Optimistic and robust SIPP relaxations provide admissible lower and upper bounds for bounded AND/OR search. When every interval declared deterministically safe is truly safe, sensing is exact, and execution follows the planned timing, the resulting policy is provably collision-free. With correct independent probabilities and complete action and outcome generation, it minimizes expected arrival time within the roadmap and horizon. Experiments on controlled roadmap instances show that StochSIPP preserves the observed success of safe fixed-path baselines while reducing arrival time, and solves gated scenarios in which conservative fixed-path planners return no plan. A scalability study further reveals rapid growth as the number of simultaneously observed uncertain statuses increases.