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Computationally tractable methods are developed for centralized goalassignment and planning of collision-free polynomial-in-time trajectories forsystems of multiple aerial robots. The method first assigns robots to goals tominimize total time-in-motion based on initial trajectories. By coupling theassignment and trajectory generation, the initial motion plans tend to requireonly limited collision resolution. The plans are then refined by checking forpotential collisions and resolving them using either start time delays oraltitude assignment. Numerical experiments using both methods show significantreductions in the total time required for agents to arrive at goals with onlymodest additional computational effort in comparison to state-of-the-art priorwork, enabling planning for thousands of agents.

Centralized Collision-free Polynomial Trajectories and Goal Assignment for Aerial Swarms