@article{anyanglepathfindingformultipleagents,
  title = {Any-Angle Pathfinding for Multiple Agents Based on SIPP Algorithm},
  author = {Konstantin Yakovlev and Anton Andreychuk},
  year = {2017},
  eprint = {1703.04159},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1703.04159v2},
}