  In this work, we propose an extension of the previously introduced Corridor
Model Predictive Control scheme for high-order and distributed systems, with an
application for on-orbit inspection. To this end, we leverage high order
control barrier function (HOCBF) constraints as a suitable control approach to
maintain each agent in the formation within a safe corridor from its reference
trajectory. The recursive feasibility of the designed MPC scheme is tested
numerically, while suitable modifications of the classical HOCBF constraint
definition are introduced such that safety is guaranteed both in sampled and
continuous time. The designed controller is validated through computer
simulation in a realistic inspection scenario of the International Space
Station.
