Multirobot navigation functions I

Savvas G. Loizou, Kostas J. Kyriakopoulos

Research output: Contribution to journalArticlepeer-review


This is the first of two chapters dealing with multirobot navigation. In this chapter a centralized methodology is presented for navigating a team of multiple robotic agents. The solution is a closed form feedback based navigation scheme. The considered robot kinematics include holonomic and non-holonomic constraints and are handled under the unifying framework of multirobot navigation functions. The derived methodology has theoretically guaranteed global convergence and collision avoidance properties. The feasibility of the proposed navigation scheme is verified through non-trivial computer simulations.

Original languageEnglish (US)
Pages (from-to)171-207
Number of pages37
JournalLecture Notes in Control and Information Sciences
StatePublished - 2006

ASJC Scopus subject areas

  • Library and Information Sciences


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