Any-angle pathfinding

3 methods in the atlas attack this one problem. They are rivals: each wins something the others do not.

Phrasings that mean this problem

Any-angle pathfindingOptimal any-angle paths

graphs-paths

Theta*Line-of-sight parent shortcutsstandardgraphs-paths
Lazy Theta*Deferred visibility checksspecialistgraphs-paths
ANYAInterval-based corner expansionspecialistgraphs-paths