C-Nav: Distributed coordination in crowded multi-agent navigation

Julio Godoy, Stephen J. Guy, Maria Gini, Ioannis Karamouzas

Research output: Contribution to journalArticlepeer-review

4 Scopus citations


In crowded multi-agent navigation, the motion of the agents is significantly constrained by the motion of the nearby agents. This makes planning paths very difficult and leads to inefficient global motion. To address this problem, we propose a distributed approach, which we call C-Nav, that introduces politeness into multi agent navigation. With our approach, agents take into account the velocities and goals of their neighbors and optimize their motion accordingly and in real-time. Further, we perform a theoretical analysis of the algorithm, and experimentally demonstrate its advantages in simulation, with hundreds of agents in a variety of scenarios, and in real world navigation tasks with several mobile robots.

Original languageEnglish (US)
Article number103631
JournalRobotics and Autonomous Systems
StatePublished - Nov 2020

Bibliographical note

Funding Information:
This work was partially funded by CONICYT under Grant FONDECYT INICIACION 11191197 and the University of Concepcion under Grant VRID INICIACION 218.093.018-1.0IN .

Publisher Copyright:
© 2020 Elsevier B.V.


  • Multi-agent coordination
  • Multi-agent navigation
  • Robotics


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