MK-RRT*: Multi-Robot Kinodynamic RRT Trajectory Planning

This paper introduces MK-RRT*: a Multi-robot Kinodynamic RRT*-based framework for trajectory planning of multiple dynamically-modeled robots. The framework includes both tightly-coupled and loosely-coupled methods for planning. The simultaneous, tightly-coupled, method provides an asymptotically optimal solution to the multi-robot trajectory planning problem. A sequential, loosely-coupled, method is also developed to compare costs of the generated trajectories and computational complexity of both methods. An application of this framework to multi-UAV trajectory planning is presented and experimentally evaluated using a team of Ryze Tello EDU UAVs.