This letter presents a new distributed multi-agent trajectory planning algorithm that generates safe, dynamically feasible trajectories considering the uncertainty of obstacles in dynamic environments. We extend the relative safe flight corridor (RSFC) presented in previous work to replace time-variant, non-convex collision avoidance constraints to convex ones, and we adopt a relaxation method based on reciprocal collision avoidance (RCA) to reduce the total flight time and distance without loss of success rate. The proposed algorithm can compute the trajectories for 50 agents on average 49.7 ms per agent with Intel i7 desktop and can generate safe trajectories for 16 agents with a success rate of more than 93% in simulation environments with four dynamic obstacles when the velocity of dynamic obstacles is below the maximum velocity of quadrotors. We validate the robustness of the proposed algorithm through a real flight test with four quadrotors and one moving human.

中文翻译：

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使用相对安全飞行走廊的动态环境中多个四旋翼的在线轨迹规划

这封信提出了一种新的分布式多智能体轨迹规划算法，该算法考虑到动态环境中障碍物的不确定性，生成安全、动态可行的轨迹。我们将之前工作中提出的相对安全飞行走廊 (RSFC) 扩展到将时变的、非凸的避撞约束替换为凸的约束，并采用基于相互碰撞避免 (RCA) 的松弛方法来减少总飞行时间和距离而不损失成功率。所提出的算法可以使用 Intel i7 台式机计算 50 个智能体的轨迹，每个智能体平均 49.7 毫秒，并且可以为 16 个智能体生成安全轨迹，在具有四个动态障碍物的模拟环境中，当动态障碍物的速度为低于四旋翼飞行器的最大速度。