ResearchBenchmarksFormation planning on Drone Swarm 100 agentsFollow0.04Mean Planning Time (s)FLIP-0.190961.368022.9274.48598May 28, 2026Evaluation ResultsMethodMethodLinksMean Planning Time (s)Std Dev Planning Time (s)Formation Distance ErrorFLIP2026.050.040.031.258Zhou’s2026.050.9330.561—Quan’s2026.055.8144.312—