Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Enhanced Decentralized Autonomous Aerial Swarm with Group Planning   Autonomous aerial swarm remains a grand challenge in robotics. Existing works
in this field can be categorized as centralized and decentralized. Centralized
methods suffer from scale dilemmas, while decentralized ones often lead to poor
planning quality. In this paper, we propose an enhanced decentralized
autonomous aerial swarm system with group planning. According to the spatial
distribution of agents, the system dynamically divides the swarm into several
groups and isolated agents. For conflicts within each group, we propose a novel
coordination mechanism named group planning. The group planning consists of
efficient multi-agent pathfinding and trajectory joint optimization, which can
significantly improve the planning quality and success rate. We demonstrate
simulations and real-world experiments that our method not only has
applicability for a large-scale swarm, but also has top-level planning quality.

21
The categories of this paper are: adap-org
17
The categories of this paper are: q-fin
25
The categories of this paper are: patt-sol
2
The categories of this paper are: math
6
The categories of this paper are: astro-ph
34
The categories of this paper are: chem-ph
32
The categories of this paper are: atom-ph
3
The categories of this paper are: physics
5
The categories of this paper are: gr-qc
9
The categories of this paper are: nlin
30
The categories of this paper are: q-alg
7
The categories of this paper are: hep-th
20
The categories of this paper are: acc-phys
11
The categories of this paper are: hep-lat
23
The categories of this paper are: solv-int
22
The categories of this paper are: chao-dyn