基于动态密度引导的多机器人编队队形变换方法
曹凯, 陈阳泉, 李康, 陈超波, 阎坤, 刘伟超

Dynamic Density-Guided Method for Multi-Robot Formation Transformation
CAO Kai, CHEN Yangquan, LI Kang, CHEN Chaobo, YAN Kun, LIU Weichao
图11 期望密度直接引导编队分裂
Fig.11 Desired density directly guided formation splitting