DLSC: Distributed Multi-Agent Traj. Planning in Maze-like Dynamic Envs using Linear safe corridor

* Status: accepted for publication in IEEE Transactions on Robotics (T-RO)
* Category: Multi-robot Systems
* Authors: Jungwon Park, Yunwoo Lee, Inkyu Jang, and H. Jin Kim
* Abstract: This paper presents an online distributed trajectory
planning algorithm for a quadrotor swarm in a maze-like
dynamic environment. We utilize a dynamic linear safe corridor
(DLSC) to construct the feasible collision constraints that can ensure
inter-agent collision avoidance and consider the uncertainty
of moving obstacles. We introduce mode-based subgoal planning
to resolve deadlock faster in a complex environment using only
previously shared information. For dynamic obstacle avoidance,
we adopt heuristic methods such as collision alert propagation
and escape point planning to deal with the situation where
dynamic obstacles approach the agents clustered in a narrow
corridor. We prove that the proposed algorithm guarantees the
feasibility of the optimization problem for every replanning step.
In an obstacle-free space, the proposed method can compute the
trajectories for 60 agents on average 7.66 ms per agent with
an Intel i7 laptop and shows the perfect success rate. Also, our
method shows 64.5% shorter flight time than buffered Voronoi
cell (BVC) and 34.6% shorter than with our previous work. We
conduct the simulation in a random forest and maze with four
dynamic obstacles, and the proposed algorithm shows the highest
success rate and shortest flight time compared to state-of-the-art
baseline algorithms. In particular, the proposed algorithm shows
over 97% success rate when the velocity of moving obstacles
is below the agent’s maximum speed. We validate the safety
and robustness of the proposed algorithm through a hardware
demonstration with ten quadrotors and two pedestrians in a
maze-like environment.
* Contact: [e-mail]
* Supplementary material: None

[@thibautkouame1721]

Good work, keep it up !