First Collision Time in a Multi-Agent Unicycle Simulator

Problem: First Collision Time in a Multi-Agent Motion Simulator This problem describes a simulation containing N circular agents. Each agent is defined by: initial coordinates (x, y) in meters initial heading theta in radians constant linear speed v in meters per second constant angular rate omega in radians per second radius r in meters The simulator uses a fixed time step: Each agent follows a unicycle / differential-drive motion model with forward Euler integration: A…