Robust MADER: Decentralized and Asynchronous Multiagent Trajectory Planner Robust to Communication Delay

Although communication delays can disrupt mul- tiagent systems, most of the existing multiagent trajectory planners lack a strategy to address this issue. State-of-the-art approaches typically assume perfect communication environ- ments, which is hardly realistic in real-world experiments. This paper presents Robust MADER (RMADER), a decentralized and asynchronous multiagent trajectory planner that can han- dle 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 ap- proaches. SUPPLEMENTARY MATERIAL Video: https://youtu.be/vH09kwJOBYs Code: https://github.com/mit-acl/rmader