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Combining Safe Interval Path Planning and Constrained Path Following Control: Preliminary Results

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Konstantin Yakovlev, Anton Andreychuk, Juliya Belinskaya, Dmitry Makarov

Robotics · Submitted 17 Jun 2019

abstract compiled · 2026-09-23 · no language-model review

The authors' main claim Results of the conducted experimental evaluation show that the number of successfully solved navigation instances significantly increases when using the suggested techniques.

how it is stated · asserted 1.00 read the record →

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arXiv ID1906.06911 (version 1)
Pith ID5TC4DE5U, Pith's permanent record of this paper and its review
CitationAnton Andreychuk, Dmitry Makarov, Juliya Belinskaya, Konstantin Yakovlev. "Combining Safe Interval Path Planning and Constrained Path Following Control: Preliminary Results." arXiv:1906.06911 (2019). https://pith.science/paper/5TC4DE5U
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The paper's own sentences, arranged. Each label is drawn from a closed vocabulary; the number beside it is the probability the classifier gave that label. Numbers in the tables are the authors', checked by code. No sentence in this record was written by a model.

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Compiled by classifier-1.13.0 via TypeSafe API, question bank abstract-p1-20260923, 2026-09-23: 1 request, 4,185 input tokens.

What the abstract itself states, as probabilities: claims first 0.04 · states limitation 0.18 · human participants 0.02 · controlled comparison 0.35 · randomized assignment 0.01 · states quantitative result 0.12 · compares with prior results 0.39 · mentions code or data availability 0.02.

The abstract, sentence by sentence

arXiv listing abstract v1. Results and the main claim are underlined; .

We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable of handling any-angle translations and rotations. Second, the path following problem is treated as the constrained control problem and the original flatness-based approach is proposed to generate control. We suggest a few enhancements for the path planning algorithm aimed at finding trajectories that are more likely to be followed by a robot without collisions. Results of the conducted experimental evaluation show that the number of successfully solved navigation instances significantly increases when using the suggested techniques.

background contribution method result interpretation main claim

What the classifier reports for each sentence. The number is the probability it gave the label.
#sentencerolethe authors' own workstates the main conclusionstrength
s0 We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. contribution 0.49 0.74 0.03 asserted 0.97
s1 First, the reference trajectory is planned by the safe interval path planning algorithm that is capable of handling any-angle translations and rotations. method 0.99 0.53 0.03 asserted 1.00
s2 Second, the path following problem is treated as the constrained control problem and the original flatness-based approach is proposed to generate control. method 0.87 0.84 0.04 asserted 1.00
s3 We suggest a few enhancements for the path planning algorithm aimed at finding trajectories that are more likely to be followed by a robot without collisions. contribution 0.85 0.85 0.06 hedged possibility 0.88
s4 Results of the conducted experimental evaluation show that the number of successfully solved navigation instances significantly increases when using the suggested techniques. result 1.00 0.96 0.86 asserted 1.00

What kind of paper the classifier reports this is: method or tool 0.99 · evidence from observation or experiment 0.94.

What was examined, and what was not

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  • arXiv listing abstract v1
not examined
  • full text
  • figures and tables
  • references and citing sentences
  • relations to other papers
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  • P abstract
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  • S sections
  • T body sentences
  • C citations
  • R cross-paper relations

Every quoted sentence on this record is the authors'. Every label is from Pith's closed vocabulary, with the probability shown beside it. Every number in the measurements table is the authors', checked by code. Record as JSON

The paper
Original abstract

We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable of handling any-angle translations and rotations. Second, the path following problem is treated as the constrained control problem and the original flatness-based approach is proposed to generate control. We suggest a few enhancements for the path planning algorithm aimed at finding trajectories that are more likely to be followed by a robot without collisions. Results of the conducted experimental evaluation show that the number of successfully solved navigation instances significantly increases when using the suggested techniques.

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