ResearchBenchmarksFormation planning on Drone Swarm 40 agentsFollow0.014Mean Planning Time (s)FLIP-0.026360.246070.51850.79093May 28, 2026Evaluation ResultsMethodMethodLinksMean Planning Time (s)Std Dev Planning Time (s)Formation Distance ErrorFLIP2026.050.0140.0070.6065Zhou’s2026.050.0380.0320.762Quan’s2026.051.0230.765—