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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, where an agent keeps receiving trajectories from other agents and storing them, and repeatedly checking if its newly optimized trajectory conflicts with other agents' trajectories, and (2) a two-step trajectory publication scheme. We perform an in-depth analysis of trajectory deconfliction, 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 async. decentr. method only achieves 83% success., 8 pagers, 13 figures,. arXiv admin note: substantial text overlap with arXiv:2209.13667

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., Comment: 7 pages