To read Alcubierre's original warp drive paper, click here. First, let's derive Alcubierre's warp-drive metric from Einstein's field equations. Here is a list of variables required:

We begin with equation 1, Einstein's famous general relativity equation, then we do a little algebra and contract the tensors to simplify the math:

Next, we put together the metric. Equation 12 below is the finished product:

Coordinates y and z are set to zero because the spaceship is moving along the x axis. Velocity v is further defined below. It is a function of the warp-bubble shaping function and the difference between the spaceship's position and the total distance along x.

At 15 notice the value inside the warp bubble is 1 and outside is zero. This allows time to dilate outside the warp bubble, while inside the bubble there is no time dilation. More on this later. For now, let's continue defining the other components:

Below is a crude diagram representing the warp bubble moving along the x axis:

*"It is then easy to see that for the spaceship’s trajectory we will have:
dτ = dt ."--Miguel Alcubierre*

From Alcubierre's metric we can derive a Lorentz equation (see 19 below) that shows how time dilation is avoided. Since the value of the bubble shaping function is 1 inside the warp bubble the velocity v and velocity x/t cancel each other, so there's no time dilation inside the warp bubble. The function value is 0 on the outside, so there x/t is not cancelled and any time dilation would take place outside the warp bubble.

At 20 above, we see that proper time (t') equals coordinate time (t).

*"The metric I have just described has one important drawback, however: it violates
all three energy conditions (weak, dominant and strong). Both the weak and the
dominant energy conditions require the energy density to be positive for all observers."--Miguel Alcubierre*

It appears that negative energy density is required to achieve speeds greater than light speed. Negative energy density implies negative energy and negative mass. Check out the following equation system:

Notice that when v > c, the only way to get a value for m' that is real and not imaginary is to plug in -mv^2, a negative energy that has negative mass (-m). For photons, where v = c, mass m' is zero as expected. Particles that move faster than light (e.g. tachyons) have negative mass. Thus it seems such exotic matter is required to achieve superluminal speed. However, consider a satellite orbiting a black hole at radius r:

The black hole has positive mass, i.e., positive energy density. If we increase that positive energy density, we can imagine the satellite orbiting faster and faster. There seems to be no upper limit to velocity v in this gadanke experiment, since there is no apparent upper limit to positive mass m. Further, using Einstein's field equations we can show that unlimited positive energy density (pressure, heat, etc.) can yield unlimited velocity:

At equation 30 above it is plain to see that any increase in positive energy density on the right side will cause a corresponding increase in velocity on the left side. So it appears exotic matter is not really needed to achieve superluminal speed. But then there's this:

*"[L]ight itself is also being pushed by the distortion of
spacetime."--Miguel Alcubierre*

This is an unfortunate choice of words. It gives the impression that the distortion of spacetime can push light faster than light. At least that's what needs to happen if the spaceship is going faster than light; otherwise, the ship's electromagnetic energy could be left behind! Let's see what happens to photons when spacetime is distorted:

On the left side of equation 36 we have a mass particle with velocity v. On the right we have a photon with frequency f. If velocity v increases due to spacetime distortion, the velocity of the photon does not increase; rather, its frequency increases. Now, just for fun, what would happen if we assume the photon's velocity could increase?

On the right side of equation 38, the denominator has c'--a special photon velocity that can rise above c. What is the consequence? A paradox! When energy density increases, so does the spacetime curvature on the left side. This causes c' to increase wich causes the spacetime curvature to reduce which causes c' to reduce and so on. Bottom line: you end up with some very screwed-up physics!

If we can't show that photons go faster than c, at least we can show that other particles can ... or can we? Imagine the spaceship moving toward a star system at velocity nc, which is greater than c. The star system sends photons toward the spaceship at velocity c. What is the combined velocity? It's not nc + c. The velocity addition formula reveals the answer:

As Einstein himself could have told you, the combined velocity is no faster than light! This means no matter how fast distorted spacetime moves the spaceship, if there are any photons along its path (and there will be!), it will move no faster than light.

So how should we interpret equations 30 and 33? Why does it appear that superluminal speed is possible? Equation 33 makes sense if we place ourselves inside the spaceship and allow time dilation to happen.

At 43 above, we multiply the real velocity by t to get the distance. The perceived velocity v is that distance over proper time t', the time experienced by the observers in the spaceship. Let's see what we can derive:

At 51 above, we see that as epsilon gets closer to 1, the perceived velocity gets closer to infinity. The real velocity (epsilon-c) never goes faster than light.

We can determine the value of alpha for equations 30 and 33 (see equation 55):

Now equations 30, 33 and 52 make sense when you consider that observers outside the spaceship will see it going no faster than c, but observers inside the spaceship will swear they covered distance vt in time t', which could be faster than light.

But then again, we have a time dilation problem, since the clock inside the spaceship won't agree with the clock of outside observers. This is definitely true if the spaceship moves and its departure point A and arrival point B are at rest. We illustrate this in the diagram below. The arrow represents the spaceship.

But what if the spaceship, points A and B move at the same rate?

If points A, B and the spaceship all move at the same rate as in the above diagram, their clocks will agree. All observers along that path will be under the impression that the spaceship traveled distance vt in time t', which could be faster than light, at least on paper.

Now, if the observers in the spaceship view the star system they're heading for, according to the velocity addition formula, the combined velocity of the ship and the photons coming from the star will not exceed light speed, so what do they see? We can speculate they see a shorter distance or distance vt' instead of distance vt. If they don't look where they are going, they might assume the distance is vt and conclude they covered it faster than light.

Given what we now know, we should be able to visit any star system in record time, and when we get back home, our clock will agree with clocks on earth. Albeit, Miguel Alcubierre's paper makes no mention of the impact the needed energy will have on the spaceship's clocks. Things like mass and energy also slow time. According to Varieshi and Burstein's paper (click here to read), the amount of energy (mass) needed to manipulate spacetime to achieve a seemingly superluminal speed is approximately 3.42 X 10^38 solar masses! Many orders of magnitude greater than our observable universe! So time dilation is a problem even if we can successfully get the spaceship and points A and B moving at the same rate.

Conclusion: Warp drive makes wonderful science fiction--and it will be quite some time before it becomes a scientific fact.

Update: So do we really need the spaceship and points A and B moving at the same rate to cure time dilation? Take the muon time dilation experiment. When muons are moving at velocity v, their time slows. But if an observer were riding the back of a muon and considered herself at rest, she would see the scientists moving at velocity v, so why doesn't their time dilate as well? If the muons and scientists that observe them are moving at v relative to each other, shouldn't their clocks agree?

But then a closer look at the Lorentz factor reveals what's going on. Time dilation really depends on how fast the muons and scientists are moving relative to the speed of light--and not to each other. Thus the scientists really are at rest (or slower than the muons)--a photon has no trouble catching them, but does have trouble catching a fast muon (according to a coordinate-time observer; a proper-time observer [the muon or scientist] will see the photon approaching at c). Thus, for their clocks to agree, points A, B and the spaceship must move at the same velocity relative to the speed of light, not to each other.