Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: MADER: Trajectory Planner in Multi-Agent and Dynamic Environments   This paper presents MADER, a 3D decentralized and asynchronous trajectory
planner for UAVs that generates collision-free trajectories in environments
with static obstacles, dynamic obstacles, and other planning agents. Real-time
collision avoidance with other dynamic obstacles or agents is done by
performing outer polyhedral representations of every interval of the
trajectories and then including the plane that separates each pair of polyhedra
as a decision variable in the optimization problem. MADER uses our recently
developed MINVO basis to obtain outer polyhedral representations with volumes
2.36 and 254.9 times, respectively, smaller than the Bernstein or B-Spline
bases used extensively in the planning literature. Our decentralized and
asynchronous algorithm guarantees safety with respect to other agents by
including their committed trajectories as constraints in the optimization and
then executing a collision check-recheck scheme. Finally, extensive simulations
in challenging cluttered environments show up to a 33.9% reduction in the
flight time, and a 88.8% reduction in the number of stops compared to the
Bernstein and B-Spline bases, shorter flight distances than centralized
approaches, and shorter total times on average than synchronous decentralized
approaches.

30
The categories of this paper are: q-alg
35
The categories of this paper are: mtrl-th
26
The categories of this paper are: bayes-an
25
The categories of this paper are: patt-sol
34
The categories of this paper are: chem-ph
29
The categories of this paper are: funct-an
23
The categories of this paper are: solv-int
6
The categories of this paper are: astro-ph
16
The categories of this paper are: stat
20
The categories of this paper are: acc-phys
2
The categories of this paper are: math
17
The categories of this paper are: q-fin
21
The categories of this paper are: adap-org
13
The categories of this paper are: quant-ph
12
The categories of this paper are: nucl-th
19
The categories of this paper are: eess