2022/09/27 by Kota Kondo, Jesus Tordesillas, Kondo, Kota +11 · 1 citation
Computer Science · #FOS: Computer and information sciences #FOS: Electrical engineering #Multi-Agent Systems and Negotiation #Multiagent Systems (cs.MA) #Reinforcement Learning in Robotics #Robotic Path Planning Algorithms #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2209.13667
openalex publication_date 2022/09/27 · openalex created_date 2022/10/01 · openalex updated_date 2026/07/28
Although communication delays can disrupt multiagent systems, most of the existing multiagent trajectory planners lack a strategy to address this issue. State-of-the-art 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.