IEEE International Conference on Robotics and Automation - ICRA 2023, Londres (Reino Unido). 29 mayo - 02 junio 2023
Resumen:
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.
Palabras clave: Automation , Broadcasting , Hardware , Trajectory , Delays , Safety , Multi-agent systems
DOI: 
https://doi.org/10.1109/ICRA48891.2023.10161244
Publicado en ICRA 2023, pp: 1687-1693, ISBN: 979-8-3503-2366-5
Fecha de publicación: 2023-07-04.
Cita:
K. Kondo, J. Tordesillas Torres, R. Figueroa, J. Rached, J. Merkel, P.C. Lusk, J.P. How, Robust MADER: Decentralized and asynchronous multiagent trajectory planner robust to communication delay, IEEE International Conference on Robotics and Automation - ICRA 2023, Londres (Reino Unido). 29 mayo - 02 junio 2023. En: ICRA 2023: Conference proceedings, ISBN: 979-8-3503-2366-5
