Online Planning for Quadrotor Teams in 3-D Workspaces via Reachability Analysis On Invariant Geometric Trees

We consider the kinodynamic multi-robot planning problem in cluttered 3-D workspaces. Reachability analysis on position invariant geometric trees is leveraged to find kino- dynamically feasible trajectories for the multi-robot team from potentially non-stationary initial states. The key contribution of our approach is that a collision-free geometric solution guarantees a kinodynamically feasible, safe solution without additional refinement. Simulation results with up-to 40 robots and hardware results with 5 robots suggest the viability of the proposed approach for online planning and replanning for large teams of aerial robots in cluttered 3-D workspaces.