This chapter addresses autonomous navigation in populated and dynamic environments. Unlike static or controlled environments where global path planning approaches are suitable, dealing with highly dynamic and uncertain environments requires to address simultaneously many difficult issues: the detection and tracking of the moving obstacles, the prediction of the future state of the world, and the online motion planning and navigation. In the last few years, the problem of incomplete, uncertain, and changing information in the navigation problem domain has gained even more interest in the robotic community and probabilistic frameworks aiming to integrate and elaborate properly such information have been developed