Safe Interval Path Planning (SIPP) is a powerful algorithm for solving
single-agent pathfinding problem when the agent is confined to a graph and
certain vertices/edges of this graph are blocked at certain time intervals due
to dynamic obstacles that populate the environment. Original SIPP algorithm
relies on the assumption that the agent is able to stop instantaneously.
However, this assumption often does not hold in practice, e.g. a mobile robot
moving with a cruising speed is not able to stop immediately but rather
requires gradual deceleration to a full stop that takes time. In other words,
the robot is subject to kinodynamic constraints. Unfortunately, as we show in
this work, in such a case original SIPP is incomplete. To this end, we
introduce a novel variant of SIPP that is provably complete and optimal for
planning with acceleration/deceleration. In the experimental evaluation we show
that the key property of the original SIPP still holds for the modified version
-- it performs much less expansions compared to A* and, as a result, is notably
faster.

该文介绍了一种基于加减速运动学约束、解决单智能体路径规划问题的改进 SIPP 算法，实验表明，与 A * 相比，该算法扩展次数更少、速度更快。