A method for motion planning for at least two robots (R1,R2), the method comprising the steps of: - Providing a start configuration comprising at least one two-dimensional start position and a destination configuration comprising at least one two-dimensional destination position for a mobile base of a first robot; - Providing a motion of at least one obstacle in the workspace of the first robot, said obstacle motion defining a two-dimensional position of the obstacle varying over time; - Determining (S30, S60) a motion of the first robot from its start configuration to its destination configuration, said robot motion defining a two-dimensional position of the robot over a time period from a start time to a destination time, wherein the robot motion is determined such that at each point in time between start and destination time, a distance between the first robot and the obstacle does not fall below a predetermined threshold; - Providing a start configuration comprising at least one two-dimensional start position and a destination configuration comprising at least one two-dimensional destination position for a mobile base of at least one further robot; and - Determining (S30, S60) a motion of the further robot from its start to its destination configuration, said motion of the further robot defining a two-dimensional position of the further robot over a time period from a start time to a destination time such that at each point in time between said start and destination time, a distance between the further robot and the obstacle does not fall below a predetermined threshold, wherein the motions of the first robot and the at least one further robot are determined such that at each point in time between start and destination time of the robots, a distance between the robots does not fall below a predetermined threshold. - Providing a start configuration comprising at least one two-dimensional start position and a destination configuration comprising at least one two-dimensional destination position for a mobile base of a first robot; - Providing a motion of at least one obstacle in the workspace of the first robot, said obstacle motion defining a two-dimensional position of the obstacle varying over time; - Determining (S30, S60) a motion of the first robot from its start configuration to its destination configuration, said robot motion defining a two-dimensional position of the robot over a time period from a start time to a destination time, wherein the robot motion is determined such that at each point in time between start and destination time, a distance between the first robot and the obstacle does not fall below a predetermined threshold; - Providing a start configuration comprising at least one two-dimensional start position and a destination configuration comprising at least one two-dimensional destination position for a mobile base of at least one further robot; and - Determining (S30, S60) a motion of the further robot from its start to its destination configuration, said motion of the further robot defining a two-dimensional position of the further robot over a time period from a start time to a destination time such that at each point in time between said start and destination time, a distance between the further robot and the obstacle does not fall below a predetermined threshold, wherein the motions of the first robot and the at least one further robot are determined such that at each point in time between start and destination time of the robots, a distance between the robots does not fall below a predetermined threshold.