In context-aware route planning, there is a set of transportation agents each with a start and destination location on a shared infrastructure. Each agent wants to find a shortest-time route plan without colliding with any of the other agents, or ending up in a deadlock situation. We present a single-agent route planning algorithm that is both optimal and conflict-free. We also present a set of experiments that compare our algorithm to finding a conflict-free schedule along a fixed path. In particular, we will compare our algorithm to the approach where the shortest conflict-free schedule is chosen along one of k shortest paths. Although neither approach can guarantee optimality with regard to the total set of agent route plans — and indeed examples can be constructed to show that either approach can outperform the other — our experiments show that our approach consistently outperforms fixed-path scheduling.