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This paper presents a new online multi-agent trajectory planning algorithmthat guarantees to generate safe, dynamically feasible trajectories in acluttered environment. The proposed algorithm utilizes a linear safe corridor(LSC) to formulate the distributed trajectory optimization problem with onlyfeasible constraints, so it does not resort to slack variables or softconstraints to avoid optimization failure. We adopt a priority-based goalplanning method to prevent the deadlock without an additional procedure todecide which robot to yield. The proposed algorithm can compute thetrajectories for 60 agents on average 15.5 ms per agent with an Intel i7 laptopand shows a similar flight distance and distance compared to the baselinesbased on soft constraints. We verified that the proposed method can reach thegoal without deadlock in both the random forest and the indoor space, and wevalidated the safety and operability of the proposed algorithm through a realflight test with ten quadrotors in a maze-like environment.

Online Distributed Trajectory Planning for Quadrotor Swarm with Feasibility Guarantee using Linear Safe Corridor