Communication delays can be catastrophic for multiagent systems. However, most existing state-of-the-art multiagent trajectory planners assume perfect communication and therefore lack a strategy to rectify this issue in real-world environments. To address this challenge, we propose Robust MADER (RMADER), a decentralized, asynchronous multiagent trajectory planner robust to communication delay. RMADER ensures safety by introducing (1) a Delay Check step, (2) a two-step trajectory publication scheme, and (3) a novel trajectory-storing-and-checking approach. Our primary contributions include: proving recursive feasibility for collision-free trajectory generation in asynchronous decentralized trajectory-sharing, simulation benchmark studies, and hardware experiments with different network topologies and dynamic obstacles. We show that RMADER outperforms existing approaches by achieving a 100% success rate of collision-free trajectory generation, whereas the next best asynchronous decentralized method only achieves 83% success.

翻译：通信延迟对多智能体系统而言可能具有灾难性影响。然而，现有最先进的多智能体轨迹规划器大多假设完美通信，因此在现实环境中缺乏应对这一问题的策略。为应对这一挑战，我们提出鲁棒MADER（RMADER），一种对通信延迟具有鲁棒性的去中心化异步多智能体轨迹规划器。RMADER通过引入（1）延迟检查步骤、（2）两步轨迹发布方案以及（3）新型轨迹存储与检查方法确保安全性。我们的主要贡献包括：证明异步去中心化轨迹共享中无碰撞轨迹生成的递归可行性、仿真基准研究，以及针对不同网络拓扑与动态障碍物的硬件实验。实验表明，RMADER在无碰撞轨迹生成上实现了100%的成功率，优于现有方法（次优的异步去中心化方法仅实现83%的成功率）。