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

arXiv:2607.29203v1 Announce Type: new 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. Methodolog...