ResearchBenchmarksFormation planning on Drone Swarm 60 agentsFollow0.019Mean Planning Time (s)FLIP-0.054160.439670.93351.42733May 28, 2026Evaluation ResultsMethodMethodLinksMean Planning Time (s)Std Dev Planning Time (s)Formation Distance ErrorFLIP2026.050.0190.0130.7355Zhou’s2026.050.0730.0820.987Quan’s2026.051.8481.015—