To plan the trajectories of a large and heterogeneous swarm, sequential or synchronous distributed methods usually become intractable, due to the lack of global connectivity and clock synchronization, Moreover, the existing asynchronously distributed schemes usually require recheck-like mechanisms instead of inherently considering the other' moving tendency. To this end, we propose a novel asynchronous protocol to allocate the agents' derivable space in a distributed way, by which each agent can replan trajectory depending on its own timetable. Properties such as collision avoidance and recursive feasibility are theoretically shown and a lower bound of protocol updating is provided. Comprehensive simulations and comparisons with five state-of-the-art methods validate the effectiveness of our method and illustrate the improvement in both the completion time and the moving distance. Finally, hardware experiments are carried out, where 8 heterogeneous unmanned ground vehicles with onboard computation navigate in cluttered scenarios at a high agility.

翻译：为了规划大规模异构群体的轨迹，顺序或同步分布式方法通常由于缺乏全局连通性和时钟同步而变得难以处理。此外，现有的异步分布式方案通常需要重新检查类机制，而未能固有地考虑其他智能体的运动趋势。为此，我们提出了一种新颖的异步协议，以分布式方式分配智能体的可衍生空间，使每个智能体能够根据自身的时间表重新规划轨迹。理论证明了避碰和递归可行性等性质，并给出了协议更新的下界。通过与五种最先进方法的全面仿真和比较，验证了我们方法的有效性，并展示了在完成时间和移动距离方面的改进。最后，进行了硬件实验，其中8辆具有机载计算的异构无人地面车辆以高敏捷性在杂乱场景中导航。