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

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.