# Any-Angle Pathfinding for Multiple Agents Based on SIPP Algorithm

arXiv: https://arxiv.org/abs/1703.04159 · HTML: https://mlsanity.com/paper/1703.04159/

## Key facts

- Cited by 11 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 12 Mar 2017.

## Built on by (most cited first, 11 of 11)

- [CTRMs: Learning to Construct Cooperative Timed Roadmaps for Multi-agent Path Planning in Continuous Spaces](https://mlsanity.com/paper/2201.09467/) (2022)
- [Towards Time-Optimal Any-Angle Path Planning With Dynamic Obstacles](https://mlsanity.com/paper/2104.06681/) (2021)
- [Prioritized SIPP for Multi-Agent Path Finding With Kinematic Constraints](https://mlsanity.com/paper/2108.05145/) (2021)
- [Optimal and Bounded Suboptimal Any-Angle Multi-agent Pathfinding](https://mlsanity.com/paper/2404.16379/) (2024)
- [Multi-objective Conflict-based Search Using Safe-interval Path Planning](https://mlsanity.com/paper/2108.00745/) (2021)
- [Clique Analysis and Bypassing in Continuous-Time Conflict-Based Search](https://mlsanity.com/paper/2312.16106/) (2023)
- [Autonomous object harvesting using synchronized optoelectronic microrobots](https://mlsanity.com/paper/2103.04912/) (2021)
- [MANER: Multi-Agent Neural Rearrangement Planning of Objects in Cluttered Environments](https://mlsanity.com/paper/2306.06543/) (2023)
- [On the Completeness of Conflict-Based Search: Temporally-Relative Duplicate Pruning](https://mlsanity.com/paper/2408.09028/) (2024)
- [Solution Space Path Planning: A Real-Time Human-Centered Path Planning Algorithm for En-Route Air Traffic Control](https://mlsanity.com/paper/2607.00064/) (2026)
- [Optimal any-angle path planning in static and dynamic environments](https://mlsanity.com/paper/2607.00065/) (2026)

## Abstract (arXiv)

The problem of finding conflict-free trajectories for multiple agents of identical circular shape, operating in shared 2D workspace, is addressed in the paper and decoupled, e.g., prioritized, approach is used to solve this problem. Agents' workspace is tessellated into the square grid on which any-angle moves are allowed, e.g. each agent can move into an arbitrary direction as long as this move follows the straight line segment whose endpoints are tied to the distinct grid elements. A novel any-angle planner based on Safe Interval Path Planning (SIPP) algorithm is proposed to find trajectories for an agent moving amidst dynamic obstacles (other agents) on a grid. This algorithm is then used as part of a prioritized multi-agent planner AA-SIPP(m). On the theoretical, side we show that AA-SIPP(m) is complete under well-defined conditions. On the experimental side, in simulation tests with up to 200 agents involved, we show that our planner finds much better solutions in terms of cost (up to 20%) compared to the planners relying on cardinal moves only.