Resolving Spatial-Time Conflicts In A Set Of Any-angle Or
  Angle-constrained Grid Paths
  We study the multi-agent path finding problem (MAPF) for a group of agents
which are allowed to move into arbitrary directions on a 2D square grid. We
focus on centralized conflict resolution for independently computed plans. We
propose an algorithm that eliminates conflicts by using local re-planning and
introducing time offsets to the execution of paths by different agents.
Experimental results show that the algorithm can find high quality
conflict-free solutions at low computational cost.
