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

• URL: http://arxiv.org/abs/2607.29203v1
• Date: Fri, 31 Jul 2026 09:22:04 GMT
• Title: MROPE: A Multi-Robot Safe Cooperative Strategy via combined Predictive Safety Filters and Ellipse-based Constraint Compression
• Abstract summary: We propose a hierarchical strategy that decouples the cooperative monitoring mission from strict local safety requirements.<n>Methodologically, this architecture is realized by combining distributed aggregative optimization for high-level swarm coordination.<n>Virtual and real-world experiments validate the framework, demonstrating superior real-time efficiency and scalability.
• Score: 2.1769949049404906
• License: http://creativecommons.org/licenses/by/4.0/
• 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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