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arXiv · 2607.29203

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

Alice Rosetti·Lorenzo Pichierri·Domenico Cappello·Fabrizio Schiano·Giuseppe Notarstefano
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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.

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Alice Rosetti, Lorenzo Pichierri, Domenico Cappello, Fabrizio Schiano, Giuseppe Notarstefano. 2026-07-31. MROPE: A Multi-Robot Safe Cooperative Strategy via combined Predictive Safety Filters and Ellipse-based Constraint Compression. https://arxiv.org/abs/2607.29203

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