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This article provides a theory for provably safe and computationally efficient distributed constrained control, and describes an application to a swarm of nano-quadrotors with limited on-board hardware and subject to multiple state and input constraints. We provide a formal extension of the explicit reference governor framework to address the case of distributed systems. The efficacy, robustness, and scalability of the proposed theory is demonstrated by an extensive experimental validationdoi:10.3389/frobt.2021.663809 fatcat:uajgejz54bggrbfxpplwgxivwm