Goal velocity obstacles for spatial navigation of multiple virtual agents

We present the goal velocity obstacle for the spatial navigation of multiple virtual agents to planar goal regions in the two-dimensional workspace. Our approach uses velocity obstacles not only to compute collision-avoiding velocities with respect to other agents, but also to specify velocities that will direct an agent toward its spatial goal region. We demonstrate shorter path lengths and fewer collisions with only microseconds of additional computation per agent per time step than velocity-based methods that optimize on a single, preferred velocity toward the goal of each agent.