RSC achieves 83% success in maintaining rigid formations with 25 UAVs in cluttered environments via hybrid predictive control, APF safety, and stable leader-follower reconfiguration, outperforming baselines below 5%.
Learning Decen- tralized Strategies for a Perimeter Defense Game with Graph Neural Networks,
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RSC: Decentralized Rigid Formation Flocking for Large-Scale Swarms via Hybrid Predictive Control and Online Reconfiguration
RSC achieves 83% success in maintaining rigid formations with 25 UAVs in cluttered environments via hybrid predictive control, APF safety, and stable leader-follower reconfiguration, outperforming baselines below 5%.