If the robot is "close" to the goal and its path is blocked:

• Wait some time to see if it becomes unblocked
• Then replan to the goal
• repeat N times

The general idea is in blocked aisleways in warehouses / retail stores or general navigation where something temporary is blocking the robot's path. If in a narrow aisle and something in temporarily in the way, don't go out of the aisle, up another, and around, simply wait a hot second to see if it clears up (someone getting something in the aisle, transient leaving the aisle, picker, forklift, etc)

CC @DLu

Edit for more detail: The essential nature of it is that if the robot is "close" to the goal (by some integrated path distance from the goal), and the path becomes blocked (e.g. replans way. way around), instead try to wait a little bit to see if it clears up before going in another direction. This is very useful in warehouses and retail stores (this idea came from a feature I implemented at Simbe and was reminded of it by someone at Locus that wrote something similar) where you might have people walking around aisles that temporarily block the robot. Rather than turning around, going all the way down another aisle, and coming back up the other side, try to see if that person / forklift / whatever just moves on its own.