Trajectory replanning is a critical problem for multi-robot teams navigating dynamic environments. We present RLSS (Replanning using Linear Spatial Separations): a real-time trajectory replanning algorithm for cooperative multi-robot teams that uses linear spatial separations to enforce safety. Our algorithm handles the dynamic limits of the robots explicitly, is completely distributed, and is robust to environment changes, robot failures, and trajectory tracking errors. It requires no communication between robots and relies instead on local relative measurements only. We demonstrate that the algorithm works in real-time both in simulations and in experiments using physical robots. We compare our algorithm to a state-of-the-art online trajectory generation algorithm based on model predictive control, and show that our algorithm results in significantly fewer collisions in highly constrained environments, and effectively avoids deadlocks.

翻译：轨迹再规划对于在动态环境中航行的多机器人团队来说是一个关键问题。 我们展示了 RLSS (使用线性空间分离进行规划 ) : 合作性多机器人团队的实时轨迹再规划算法,使用线性空间分离来实施安全。 我们的算法明确处理机器人的动态限制,完全分布,并且对环境变化、机器人故障和轨迹跟踪错误具有很强的作用。 它不需要机器人之间的沟通,而只依靠当地的相对测量。 我们证明算法在模拟和物理机器人实验中都实时运作。 我们比较了我们的算法,在模型预测控制的基础上,以最先进的在线轨迹生成算法为基础,并表明我们的算法在高度受限环境中导致的碰撞要少得多,并有效地避免了僵局。