A feedback-based multiagent navigation framework

Savvas G. Loizou, Kostas J. Kyriakopoulos

Research output: Contribution to journalArticlepeer-review


In this paper, an on-line multirobot navigation methodology is presented, extending the concept of navigation functions from the single-point-sized holonomic robot domain to the domain of multiple non-point-sized holonomic robots. An appropriate measure of the distance from bad sets, suitable for multirobot navigation, is introduced. The derived closed form analytic solution provides a feedback-based navigation scheme, suitable for implementation, with theoretically guaranteed global convergence and collision avoidance properties. The proposed methodology is validated through non-trivial simulations.

Original languageEnglish (US)
Pages (from-to)377-384
Number of pages8
JournalInternational Journal of Systems Science
Issue number6
StatePublished - May 15 2006


  • Centralized control
  • Multiple robots
  • Navigation functions
  • On-line planning

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Theoretical Computer Science
  • Computer Science Applications


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