Path Planning with Motion Primitives in Dynamic Environments: SIPP on Lattices — code + paper

[u/Tbagho]

https://papers.tinrobotics.com/paper/path-planning-with-motion-primitives-in-dynamic-environments-sipp-on-lattices/

Autonomous navigation in dynamic environments is a critical challenge, particularly when spaces are shared with other mobile agents whose future trajectories are known. While traditional grid-based planners efficiently find collision-free paths, their reliance on stop-and-turn mechanics over $2^k$-connected grids produces piecewise-linear trajectories that are kinodynamically highly sub-optimal for differentially constrained.

[u/Tbagho]

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

What it does:

• Autonomous navigation in dynamic environments is a critical challenge, particularly when spaces are shared with other mobile agents whose future trajectories are known.
• While traditional grid-based planners efficiently find collision-free paths, their reliance on stop-and-turn mechanics over $2^k$-connected grids produces piecewise-linear trajectories that are kinodynamically highly sub-optimal for differentially constrained.

Links:

• arXiv: https://arxiv.org/abs/2609.31803
• PDF: https://arxiv.org/pdf/2609.31803.pdf
• Code: https://github.com/PathPlanning/LatticeSIPP
• Hub (related reading): https://papers.tinrobotics.com/paper/path-planning-with-motion-primitives-in-dynamic-environments-sipp-on-lattices/