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Robotic obstacle avoidance in cluttered and dense environments is an important issue in robotic navigation. Over the past few years a number of techniques has been proposed to deal with safe navigation among obstacles in unknown scenarios. Unfortunately many of these methods do not consider obstacle velocities, which can rise some serious questions concerning their safety . This paper will deal with a novel approach to moving obstacle avoidance in holonomic robots. It proposes the Forbiddendoi:10.1109/iros.2009.5354210 dblp:conf/iros/DamasS09 fatcat:shoh54i5vzft7n422y57cnbzfq