The video shows 50 agents (shown as a solid triangle) moving along
their global paths (planned in the preprocessing phase) in a static
virtual environment with 5 narrow passages. All agents' motions are
coordinated (to avoid deadlocks in the narrow passages) in real-time
by constructing and processing two Coordination Graphs (CG) in
parallel utilizing a dual-core Pentium D processor.

To make sure that an agent passes through at least one narrow
passage while moving along its global path, each agent’s start
position and goal position are located in two different open spaces.
Once an agent reaches its goal position, it makes U-turn and heads
back to its start position.
