The content discusses the challenges of formation trajectory planning in large-scale aerial swarms using complete graphs and introduces a sparse graph construction method for better efficiency-performance trade-off. The paper presents a sparsification mechanism for complete graphs to ensure global rigidity and a good sparse graph construction method. Simulation results show improved planning efficiency and comparable formation error with 30% connection edges. Benchmark comparisons and ablation studies validate the effectiveness of the proposed method.
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by Yuan Zhou,Lu... at arxiv.org 03-27-2024
https://arxiv.org/pdf/2403.17288.pdfDeeper Inquiries