Multi-agent navigation in human-shared environments: A safe and socially-aware approach

Manuel Boldrer*, Alessandro Antonucci, Paolo Bevilacqua, Luigi Palopoli, Daniele Fontanelli

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

5 Citations (Scopus)


The paper addresses the problem of multi-robot navigation in human shared spaces. We propose a hierarchical framework that combines global path planning, local path planning and reactive strategies, ensuring a safe and socially-aware navigation. We show through several tests and extensive experiments with a real robotic implementation that our combination of solutions delivers excellent results in terms of robustness and performance even in challenging natural scenarios.

Original languageEnglish
Article number103979
JournalRobotics and Autonomous Systems
Publication statusPublished - 2022
Externally publishedYes


  • Distributed systems
  • Multi-robot navigation
  • Socially-aware navigation


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