Closed loop navigation for multiple holonomic vehicles

@inproceedings{Loizou2002ClosedLN,
  title={Closed loop navigation for multiple holonomic vehicles},
  author={Savvas G. Loizou and Kostas J. Kyriakopoulos},
  booktitle={IROS},
  year={2002}
}
We extend the navigation function methodology, established for single robot navigation, to the case of multiple robots. Appropriate expression of the robot potential functions guarantees global convergence. The derived closed form navigation function provides a robust navigation scheme, suitable for real time implementation. The collision avoidance and global convergence properties are verified through simulations. 
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