# Prioritized Safe Interval Path Planning for Multi-Agent Pathfinding With Continuous Time on 2D Roadmaps

> Research article (IEEE Robotics and Automation Letters, 2022) · cited 29× · AI/ML

**Wikidata**: [openalex:W4285178132](https://www.wikidata.org/wiki/openalex:W4285178132)  
**Source**: https://4ort.xyz/entity/prioritized-safe-interval-path-planning-for-multi-agent-pathfinding-with-continuous-time-on-2d-roadmaps