Closed-Loop Plan Governance for Dynamic Drone Delivery Supported by a Mobile Platform: Separating Planning Access, Plan Inertia, and a Shared Safety Guard

Abstract

Dynamic drone delivery requires rules for retaining and revising released plans. We specify a closed-loop architecture separating ordinary replanning access, assignment-change penalties, and shared safety intervention, while explicitly identifying closed-gate task filling. Three role-differentiated drones and a mobile support platform are evaluated using demand and weather proxies on all 88 eligible holdout dates. Four policies cross always-open or event-gated access with fixed or adaptive inertia. A paired NoFill intervention removes ordinary closed-gate filling without disabling planned execution or safety checks. Full factorial effects and calendar-block uncertainty replace the original selected-contrast, independent-date analysis. With fixed inertia, the Original event-gated policy increases completion by 5.806 percentage points (seven-day block 95% interval: 4.016 to 7.601) but increases flight energy by 10.414 Wh per completed order. Without filling, its completion difference is −3.431 points (−5.187 to −2.005). Ordinary planning access and assignment changes remain lower. Incremental adaptive-inertia benefits under event-gated access are unresolved. The results identify a conditional architectural trade-off, not a pure replanning-frequency benefit. The fixed simulation window, transferred physical inputs, and unmodelled operational constraints limit inference beyond this setting.