Computationally tractable methods are developed for centralized goal assignment and planning of collision-free polynomial-in-time trajectories for systems of multiple aerial robots. The method first assigns robots to goals to minimize total time-in-motion based on initial trajectories. By coupling the assignment and trajectory generation, the initial motion plans tend to require only limited collision resolution. The plans are then refined by checking for potential collisions and resolving them using either start time delays or altitude assignment. Numerical experiments using both methods show significant reductions in the total time required for agents to arrive at goals with only modest additional computational effort in comparison to state-of-the-art prior work, enabling planning for thousands of agents.

翻译：为集中目标分配和规划多个航空机器人系统的无碰撞多时多轨轨迹,开发了计算可移动的方法。该方法首先将机器人分配到根据初始轨迹尽可能减少总在动时间的目标上。通过将任务分配和轨迹生成结合起来,初步的动作计划往往只需要有限的碰撞分辨率。然后,通过检查潜在碰撞情况,并使用起始时间延迟或高度分配来解决这些问题,对计划进行改进。两种方法的数值实验都表明,与以往最新工作相比,代理人实现目标所需的总时间大大缩短,只需稍作额外的计算,就能为数以千计的代理人进行规划。