  We propose in this paper a minimal speed-based pedestrian model for which
particle dynamics are intrinsically collision-free. The speed model is an
optimal velocity function depending on the agent length (i.e.\ particle
diameter), maximum speed and time gap parameters. The direction model is a
weighted sum of exponential repulsion from the neighbors, calibrated by the
repulsion rate and distance. The model's main features like the reproduction of
empirical phenomena are analysed by simulation. We point out that phenomena of
self-organisation observable in force-based models and field studies can be
reproduced by the collision-free model with low computational effort.
