Robust MADER: Decentralized and Asynchronous Multiagent Trajectory Planner Robust to Communication Delay
Kota Kondo,Jesus Tordesillas,Reinaldo Figueroa,Juan Rached,Joseph Merkel,Parker C. Lusk,Jonathan P. How,Kota Kondo,Jesus Tordesillas,Reinaldo Figueroa,Juan Rached,Joseph Merkel,Parker C. Lusk,Jonathan P. How
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 ca...
