In the last two decades, the deep technological developments in the fields of artificial intelligence, computing platforms and sensors boosted the use of autonomous mobile robots in complex environments, such as factories, offices, hospitals, airports and, more recently, also in homes. One of the first problems that agents have to overcome for a successful navigation is the avoidance of dynamic obstacles. The LINKS Foundation in Turin carries out research in different domains, such as AI, IoT, Cyber-physical and autonomous systems. This thesis was born as one of the first building blocks of a LINKS project: build up an autonomous system of internal mail delivery across its offices, based on a fleet of mobile agents.