id	author	title	date	pages	extension	mime	words	sentence	flesch	summary	cache	txt
fcis-26107	Zhou, Zhanchong; Luo, Huailin; Zhang, Tao	Research on Formation Reorganization Optimization and Trajectory Planning for Robotic Swan Light Performance on Water Surface	2024	8	.pdf	application/pdf	3822	202	42	Moreover, DMPC has high scalability and is adaptable for controlling the reorganization performance of different numbers of swan water surface robot formations. ̅ (3) In the formula: represents the distance from the initial position to the designated reorganization position for the swan surface robot; represents the total sum of the chordal distances; , , , are the initial position coordinates of the swan surface robot; , , , are the designated formation position coordinates of the swan surface robot; is the total number of swan surface robots participating in the group performance; represents the variance of the distances. 3.1.2.	cache/fcis-26107.pdf	txt/fcis-26107.txt