  Although communication delays can disrupt multiagent systems, most of the
existing multiagent trajectory planners lack a strategy to address this issue.
State-of-the-art approaches typically assume perfect communication
environments, which is hardly realistic in real-world experiments. This paper
presents Robust MADER (RMADER), a decentralized and asynchronous multiagent
trajectory planner that can handle communication delays among agents. By
broadcasting both the newly optimized trajectory and the committed trajectory,
and by performing a delay check step, RMADER is able to guarantee safety even
under communication delay. RMADER was validated through extensive simulation
and hardware flight experiments and achieved a 100% success rate of
collision-free trajectory generation, outperforming state-of-the-art
approaches.
