  Recent work on the multi-agent pathfinding problem (MAPF) has begun to study
agents with motion that is more complex, for example, with non-unit action
durations and kinematic constraints. An important aspect of MAPF is collision
detection. Many collision detection approaches exist, but often suffer from
issues such as high computational cost or causing false negative or false
positive detections. In practice, these issues can result in problems that
range from inefficiency and annoyance to catastrophic. The main contribution of
this technical report is to provide a high-level overview of major categories
of collision detection, along with methods of collision detection and
anticipatory collision avoidance for agents that are both computationally
efficient and highly accurate.
