Title: Collision-Free Multi Robot Trajectory Optimization in Unknown Environments using Decentralized Trajectory Planning,
Abstract: Multi robot systems have the potential to be utilized in a variety of
applications. In most of the previous works, the trajectory generation for
multi robot systems is implemented in known environments. To overcome that we
present an online trajectory optimization algorithm that utilizes communication
of robots' current states to account to the other robots while using local
object based maps for identifying obstacles. Based upon this data, we predict
the trajectory expected to be traversed by the robots and utilize that to avoid
collisions by formulating regions of free space that the robot can be without
colliding with other robots and obstacles. A trajectory is optimized
constraining the robot to remain within this region.The proposed method is
tested in simulations on Gazebo using ROS.