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The planning problem satisfies various task requirements including flight efficiency, obstacle avoidance, and inter-robot collision avoidance, dynamical feasibility, swarm coordination, and so on, thus realizing an extensible planner. Furthermore, the proposed planner deforms trajectory shapes and adjusts time allocation synchronously based on spatial-temporal joint optimization. A high-quality trajectory thus can be obtained after exhaustively exploiting the solution space within only a few milliseconds, even in the most constrained environment. The planner is finally integrated into the developed palm-sized swarm platform with onboard perception, localization, and control. Benchmark comparisons validate the superior performance of the planner in trajectory quality and computing time. Various real-world field experiments demonstrate the extensibility of our system. Our approach evolves aerial robotics in three aspects: capability of cluttered environment navigation, extensibility to diverse task requirements, and coordination as a swarm without external facilities.<\/jats:p>","DOI":"10.1126\/scirobotics.abm5954","type":"journal-article","created":{"date-parts":[[2022,5,4]],"date-time":"2022-05-04T17:59:32Z","timestamp":1651687172000},"source":"Crossref","is-referenced-by-count":524,"title":["Swarm of micro flying robots in the wild"],"prefix":"10.1126","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5484-205X","authenticated-orcid":true,"given":"Xin","family":"Zhou","sequence":"first","affiliation":[{"name":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China."},{"name":"Huzhou Institute of Zhejiang University, Huzhou, China."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4409-9095","authenticated-orcid":true,"given":"Xiangyong","family":"Wen","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China."},{"name":"Huzhou Institute of Zhejiang University, Huzhou, China."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2032-258X","authenticated-orcid":true,"given":"Zhepei","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China."},{"name":"Huzhou Institute of Zhejiang University, Huzhou, China."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0377-770X","authenticated-orcid":true,"given":"Yuman","family":"Gao","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China."},{"name":"Huzhou Institute of Zhejiang University, Huzhou, China."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4667-0419","authenticated-orcid":true,"given":"Haojia","family":"Li","sequence":"additional","affiliation":[{"name":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hongkong, China."}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5157-4205","authenticated-orcid":true,"given":"Qianhao","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China."},{"name":"Huzhou Institute of Zhejiang University, Huzhou, China."}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8203-085X","authenticated-orcid":true,"given":"Tiankai","family":"Yang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China."},{"name":"Huzhou Institute of Zhejiang University, Huzhou, China."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1393-3040","authenticated-orcid":true,"given":"Haojian","family":"Lu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China."}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7771-849X","authenticated-orcid":true,"given":"Yanjun","family":"Cao","sequence":"additional","affiliation":[{"name":"Huzhou Institute of Zhejiang University, Huzhou, China."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2759-6364","authenticated-orcid":true,"given":"Chao","family":"Xu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China."},{"name":"Huzhou Institute of Zhejiang University, Huzhou, China."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6513-374X","authenticated-orcid":true,"given":"Fei","family":"Gao","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China."},{"name":"Huzhou Institute of Zhejiang University, Huzhou, China."}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abh1221"},{"key":"e_1_3_2_3_2","unstructured":"Nikkei Teardown of DJI drone reveals secrets of its competitive pricing (2021);https:\/\/asia.nikkei.com\/Business\/China-tech\/Teardown-of-DJI-drone-reveals-secrets-of-its-competitive-pricing."},{"key":"e_1_3_2_4_2","unstructured":"Grand View Research Commercial drone market size share & trends analysis report by product (fixed-wing rotary blade hybrid) by application by end-use by region and segment forecasts 2021\u20132028 (2021);www.grandviewresearch.com\/industry-analysis\/global-commercial-drones-market."},{"key":"e_1_3_2_5_2","doi-asserted-by":"crossref","unstructured":"D. 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