  This paper presents a robust distributed coordination protocol that achieves
generation of collision-free trajectories for multiple unicycle agents in the
presence of stochastic uncertainties. We build upon our earlier work on
semi-cooperative coordination and we redesign the coordination controllers so
that the agents counteract a class of state (wind) disturbances and measurement
noise. Safety and convergence is proved analytically, while simulation results
demonstrate the efficacy of the proposed solution.
