v2.2.1

[v2.2.1] — 2026-04-02 (IEEE CONES Submission)

Added

• GUI with PySide6 for interactive simulation control
• ConflictDetector, ConflictEvasionCentralCoordinator and ConflictEvasionDistributedCoordinator for MPC-based conflict evasion
• Drone model rendering (instead of sphere-only) in GUI and API
• Opaque obstacle rendering
• Obstacle logging
• Terraform integration for running large-scale scenarios on Hetzner
• Infeasibility detection when drones cannot be placed due to insufficient space
• Plot tools for paper figures (EPS export, scenario plots)
• Joblib-based parallelization (replaces manual threading)

Changed

• DMPC performance improvements (timeout tuning, reduced max iterations)
• Drone rendering available in API-render, not only in GUI

Fixed

• Obstacle avoidance constraint fix
• Logging bug in distributed coordinator
• Controller issue in live view

[v2.2.0] — Threaded MPC

Added

• ThreadedMPCCoordinator for asynchronous distributed MPC
• Thread-safe mailbox system for inter-drone communication
• Tests and verification for threaded MPC milestone

Fixed

• Warm-start issue in threaded MPC

[v2.1.0] — Adaptive Safety Zones

Added

• AdaptiveMPCAgent controller class with velocity-dependent adaptive safety spheres
• compute_adaptive_radius with safety_zone as minimum floor
• Per-step safety radii in distributed MPC data structures
• Adaptive safety radius exposed in API response
• Adaptive spheres configurable via scenario config
• Parameter sweep script with CSV output

Changed

• Refactoring: extracted GlobalMPCSolver from CentralMPCGlobalCoordinator

[v2.0.0] — Distributed MPC (ADMM)

Added

• DistributedMPCCoordinator with ADMM-based coordination
• LocalMPCSolver as per-drone local optimization solver
• TrajectoryMailbox and TrajectoryMessage for trajectory communication
• NeighbourGraph for neighborhood-based communication structure
• ADMMState class for convergence tracking
• Gauss-Seidel style updates with symmetry breaking
• ADMM statistics tracking
• Constraint classes for modular constraint handling
• Live view support for distributed simulations

Changed

• Coordinator refactored to use Drone objects instead of raw lists
• Docstrings converted to Sphinx format