MROPE: A Multi-Robot Safe Cooperative Strategy via combined Predictive Safety Filters and Ellipse-based Constraint Compression

Abstract:Deploying drone swarms to track a dynamic target in cluttered environments presents severe computational and safety challenges. We propose MROPE, a hierarchical strategy that decouples the cooperative monitoring mission from strict local safety requirements. To overcome the computational bottlenecks typical of dense spaces, our approach dynamically aggregates complex obstacle geometries into a single safe bounding ellipse for each drone. Methodologically, this architecture is realized by combining distributed aggregative optimization for high-level swarm coordination, a decentralized consensus scheme for the safe area computation, and local Predictive Safety Filters (PSF) for real-time collision avoidance. Virtual and real-world experiments validate the framework, demonstrating superior real-time efficiency and scalability compared to centralized approaches.

Robotics (cs.RO); Systems and Control (eess.SY)

arXiv:2607.29203 [cs.RO]

(or arXiv:2607.29203v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2607.29203 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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