AA-SIPP-m:网格世界中优先处理多主体路径查找（MAPF）的算法。 允许向任意方向移动（允许每个代理遵循网格上的任何角度的路径）。 时间轴是连续的，即动作持续时间未明确离散为时间步长。 支持不同代理的大小和移动速度。 计划是在（x，y，\ theta）配置空间中进行的，即考虑了代理的方向-源码

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