(ICRA) Robust MADER: Decentralized and Asynchronous Multiagent Traj Planner Robust to Comm Delay

Accepted to the 2023 International Conference on Robotics and
Automation (ICRA).
New videos available: • Robust MADER: Decentra...
Preprint available on Arxiv: arxiv.org/pdf/...
Code: github.com/mit...
Abstract: Although communication delays can disrupt multiagent systems, most of the existing multiagent trajectory planners lack a strategy to address this issue. State-of-theart approaches typically assume perfect communication environments, which is hardly realistic in real-world experiments. This paper presents Robust MADER (RMADER), a decentralized and asynchronous multiagent trajectory planner that can handle communication delays among agents. By broadcasting both the newly optimized trajectory and the committed trajectory, and by performing a delay check step, RMADER is able to guarantee safety even under communication delay. RMADER was validated through extensive simulation and hardware flight experiments
and achieved a 100% success rate of collision-free trajectory
generation, outperforming state-of-the-art approaches.