  This paper introduces a new approach to solving a continuous-time version of
the multi-agent path finding problem. The algorithm translates the problem into
an extension of the classical Boolean satisfiability problem, satisfiability
modulo theories (SMT), that can be solved by off-the-shelf solvers. This
enables the exploitation of conflict generalization techniques that such
solvers can handle. Computational experiments show that the new approach scales
better with respect to the available computation time than state-of-the art
approaches and is usually able to avoid their exponential behavior on a class
of benchmark problems modeling a typical bottleneck situation.
