ResearchBenchmarksFormation planning on Drone Swarm 80 agentsFollow0.026Mean Planning Computation Time (s)FLIP-0.095080.722211.53952.35679May 28, 2026Evaluation ResultsMethodMethodLinksMean Planning Computation Time (s)Std Dev Planning Time (s)Formation Distance ErrorFLIP2026.050.0260.0180.9352Zhou’s2026.050.5160.2451.9631Quan’s2026.053.0531.7—