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There are many industrial, commercial and social applications for multi-agentplanning for multirotors such as autonomous agriculture, infrastructureinspection and search and rescue. Thus, improving on the state-of-the-art ofmulti-agent planning to make it a viable real-world solution is of greatbenefit. In this work, we propose a new method for multi-agent planning in astatic environment that improves our previous work by making it fully online aswell as robust to communication latency. The proposed framework generates aglobal path and a Safe Corridor to avoid static obstacles in an online fashion(generated offline in our previous work). It then generates a time-aware SafeCorridor which takes into account the future positions of other agents to avoidintra-agent collisions. The time-aware Safe Corridor is given with a localreference trajectory to an MIQP (Mixed-Integer Quadratic Problem)/MPC (ModelPredictive Control) solver that outputs a safe and optimal trajectory. Theplanning frequency is adapted to account for communication delays. The proposedmethod is fully online, real-time, decentralized, and synchronous. It iscompared to 3 recent state-of-the-art methods in simulations. It outperformsall methods in robustness and safety as well as flight time. It alsooutperforms the only other state-of-the-art latency robust method incomputation time.

Decentralized Multi-Agent Planning for Multirotors: a Fully Online and Communication Latency Robust Approach