There are many industrial, commercial and social applications for multi-agent planning for multirotors such as autonomous agriculture, infrastructure inspection and search and rescue. Thus, improving on the state-of-the-art of multiagent planning to make it a viable real-world solution is of great benefit. In this work, we propose a new method for multi-agent planning in a static environment that improves our previous work by making it fully online as well as robust to communication latency. The proposed framework generates a global path and a Safe Corridor to avoid static obstacles in an online fashion (generated offline in our previous work). It then generates a time-aware Safe Corridor which takes into account the future positions of other agents to avoid intra-agent collisions. The time-aware Safe Corridor is given with a local reference trajectory to an MIQP (Mixed-Integer Quadratic Problem)/MPC (Model Predictive Control) solver that outputs a safe and optimal trajectory. The planning frequency is adapted to account for communication delays. The proposed method is fully online, real-time, decentralized, and synchronous. It is compared to 3 recent state-of-the-art methods in simulations. It outperforms all methods in robustness and safety as well as flight time. It also outperforms the only other state-of-the-art latency robust method in computation time.

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The persistent Müllerian duct syndrome (PMDS) is defined by the persistence of Müllerian derivatives in an otherwise normally virilized 46,XY male. It is usually caused by mutations in either the anti-Müllerian hormone (AMH) or AMH receptor type 2 (AMHR2) genes. We report the first cases of PMDS resulting from a microdeletion of the chromosomal region 12q13.13, the locus of the gene for AMHR2. One case involved a homozygous microdeletion of five exons of the AMHR2 gene. In the second case, the whole AMHR2 gene was deleted from the maternally inherited chromosome. The patient’s paternal allele carried a stop mutation, which was initially thought to be homozygous by Sanger sequencing. Diagnostic methods are discussed, with an emphasis on comparative genomic hybridization and targeted massive parallel sequencing.