通信遅延に頑健な分散非同期マルチエージェント軌道計画
Robust MADER: Decentralized and Asynchronous Multiagent Trajectory Planner Robust to Communication Delay
通信遅延があっても安全を保証できる分散・非同期のマルチエージェント軌道計画手法RMADERを提案し、シミュレーションと実機飛行で衝突のない軌道生成を100%達成した。
著者: Kota Kondo, Jesus Tordesillas, Reinaldo Figueroa, Juan Rached, Joseph Merkel, Parker C. Lusk, Jonathan P. How
分類: cs.RO, cs.MA, cs.SY, eess.SY
原文アブストラクト
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 can handle communication delays among agents. By broadcasting both the newly optimized trajectory and the committed trajectory, and by performing a delay check step, RMADER is able to guarantee safety even under communication delay. RMADER was validated through extensive simulation and hardware flight experiments and achieved a 100% success rate of collision-free trajectory generation, outperforming state-of-the-art approaches.
