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We present a novel approach for efficient path planning and navigation of multiple virtual agents in complex dynamic scenes. We introduce a new data structure, Multiagent Navigation Graph (MaNG), which is constructed using first-and second-order Voronoi diagrams. The MaNG is used to perform route planning and proximity computations for each agent in real time. Moreover, we use the path information and proximity relationships for the local dynamics computation of each agent by extending a socialdoi:10.1109/tvcg.2008.27 pmid:18369262 fatcat:wvhfr4phnfhnlls22w37qi2ljq