FLIP：基于点云配准的大规模分布式集群实时弹性编队规划

Yuan Zhou, Guangtong Xu, Zhenyu Hou, Jialiang Hou, Fei Gao

摘要

该论文将大规模编队规划问题转化为时空点云配准问题，通过分布式计算每个智能体的最优编队位置序列，实现高效且弹性的轨迹规划。在120架无人机编队仿真中验证了方法的有效性和优越性。

formation planningpoint cloud registrationdistributed swarmresilientlarge-scale

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