Release Notes

This release contains new models and bug fixes.

CollisionFreeSpeedModelV3 (Rotational Steering)

CollisionFreeSpeedModelV3 is a variant of the Collision-Free Speed Model V2 in which the steering and the speed selection are explicitly decoupled.

The walking direction is obtained by rotating a reference direction toward the side opposite the most relevant forward neighbor, and the walking speed is computed from a scalar spacing using the optimal-velocity relation. A first-order relaxation is applied to the heading angle to suppress jitter, and a small reverse-speed floor is used to release contact deadlocks.

WarpDriver Model

The WarpDriver model computes collision-free velocities using probabilistic collision fields. Each agent projects its trajectory forward in time, evaluates the collision probability with every neighbor via a warped intrinsic field, and adjusts its velocity through gradient descent on the resulting probability landscape.

Bug fixes

• Fixed #1536