# Distributed Model Predictive Control with Adaptive Safety Zones for Multi-Fleet Drone Operations

arXiv: https://arxiv.org/abs/2606.20651 · HTML: https://mlsanity.com/paper/2606.20651/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 9 of its 45 references that are in the map.
- First posted on arXiv 8 Jun 2026.

## Builds on (most cited first, 9 of 9)

- [Control Barrier Function Based Quadratic Programs for Safety Critical Systems](https://mlsanity.com/paper/1609.06408/) (2016)
- [GCBF+: A Neural Graph Control Barrier Function Framework for Distributed Safe Multi-Agent Control](https://mlsanity.com/paper/2401.14554/) (2024)
- [Online Trajectory Generation with Distributed Model Predictive Control for Multi-Robot Motion Planning](https://mlsanity.com/paper/1909.05150/) (2019)
- [Nonlinear MPC for Collision Avoidance and Controlof UAVs With Dynamic Obstacles](https://mlsanity.com/paper/2008.00792/) (2020)
- [Enhancing Feasibility and Safety of Nonlinear Model Predictive Control with Discrete-Time Control Barrier Functions](https://mlsanity.com/paper/2105.10596/) (2021)
- [Event-triggered and distributed model predictive control for guaranteed collision avoidance in UAV swarms](https://mlsanity.com/paper/2206.11020/) (2022)
- [Distributed MPC for Self-Organized Cooperation of Multiagent Systems -- Extended Version](https://mlsanity.com/paper/2210.10128/) (2022)
- [Decentralized MPC based Obstacle Avoidance for Multi-Robot Target Tracking Scenarios](https://mlsanity.com/paper/1805.09633/) (2018)
- [Obstacle Avoidance of UAV in Dynamic Environments Using Direction and Velocity-Adaptive Artificial Potential Field](https://mlsanity.com/paper/2512.07609/) (2025)

## Built on by (most cited first, 1 of 1)

- [Conflict-Predictive Variable Horizons in Multi-Drone Distributed Model Predictive Control](https://mlsanity.com/paper/2609.13270/) (2026)

## Abstract (arXiv)

Autonomous drone swarms in space-constrained environments such as warehouses, inspection corridors, and urban delivery routes must share limited airspace safely at high vehicle density. Existing approaches rely on fixed safety zones sized for worst-case velocity, which wastes airspace in congested scenarios. We replace the fixed radius with an adaptive, speed-dependent safety sphere whose size scales with braking distance: tight at low speeds, expanded at high speeds. We develop both a centralized model predictive control (MPC) formulation and a distributed MPC (DMPC) in which each drone optimizes locally from detected neighbors, accommodating mixed fleets with non-cooperative agents. We prove feasibility up to the geometric packing limit evaluated at the minimum radius, establish Lyapunov stability under sufficient conditions on the adaptation parameter, drone density, and prediction horizon, and extend these guarantees to the distributed setting via a contraction condition that preserves the centralized stability margins. We further derive modified sphere-packing capacity bounds and a throughput-optimal crossing speed for narrow passages. Simulations confirm that the adaptive framework remains feasible where fixed-radius methods fail: it roughly doubles the admissible drone count, reduces traversal time through constrained passages by about 25 percent, and enables passage through openings impassable to static safety zones. The centralized variant realizes a larger fraction of the theoretical capacity, while the distributed variant offers a more realistic deployment model for mixed-fleet operations under the same safety guarantees.