  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, (2) a two-step trajectory publication scheme, and (3) a novel
trajectory-storing-and-checking approach. Our primary contributions include:
proving recursive feasibility for collision-free trajectory generation in
asynchronous decentralized trajectory-sharing, simulation 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 asynchronous decentralized method only achieves 83% success.
