Infeasibility of the Linear Program

[raja-s]

As is well explained in both the paper and the book, the linear program that maximizes a vector in the intersection of a set of half-planes could at any point in time not have any solution. In the implementation, this translates into an exception called LinearProgramInfeasibleException thrown at any point where the linear program is found to be infeasible.

When running the demos, I get this exception way too many times, especially in cases where the agents are clearly far from one another and can't possibly be on a collision course.