1. A method for navigating a plurality of robots in an environment to be navigated, comprising the steps of: determining a plurality of navigation buffers for said corresponding plurality of robots; and allowing each of said plurality of robots to navigate within said environment to be navigated while maintaining a substantially minimum distance from other robots, wherein said substantially minimum distance corresponds to a size of said navigation buffers, wherein said size of each of said navigation buffers is reduced based on a ratio of space remaining to be navigated relative to an initial size of said environment, wherein at least one of said steps of said method are performed by at least one hardware device.