Independent Navigation of Multiple Robots and Virtual Agents

,* ,* Jur van den Berg, ,* Sachin Patil,* ,* and *
* Department of Computer Science, University of North Carolina at Chapel Hill
 Department of Industrial Engineering and Operations Research, University of California, Berkeley


We demonstrate an approach for collision- and oscillation-free navigation of multiple robots or virtual agents amongst each other. Each entity acts independently and uses only both the position and velocity of nearby entities to predict their future trajectories in order to avoid collisions. Entities take into account that the other entities are responding to them likewise to prevent oscillations.

Categories and Subject Descriptors

I.2.9 [Artificial Intelligence]: Robotics; I.2.11 [Artificial Intelligence]: Distributed Artificial Intelligence.

General Terms

Algorithms, experimentation.


Planning, multi-robot systems.

Extended Abstract

Jamie Snape, Jur van den Berg, Stephen J. Guy, Sean Curtis, Sachin Patil, Ming C. Lin, and Dinesh Manocha, "Independent navigation of multiple robots and virtual agents," demonstration session at 9th Int. Conf. Autonomous Agents and Multiagent Systems, Toronto, Canada, 2010.


QuickTime Movie (24.9 MB), Vimeo Video, YouTube Video


This work was supported by ARO under Contract W911NF-04-1-0088, by NSF under Award 0636208, Award 0917040, and Award 0904990, by DARPA and RDECOM under Contract WR91CRB-08-C-0137, and by Intel.