Designing autonomous aerial robot team systems 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 robot team system with group planning. According to the spatial distribution of agents, the system dynamically divides the team 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 (MAPF) and trajectory joint optimization, which can significantly improve planning quality and success rate. We demonstrate through simulations and real-world experiments that our method not only has applicability for a large-scale team but also has top-level planning quality

翻译：设计自主航空机器人团队系统仍然是机器人的巨大挑战。该领域现有的工程可以分为集中和分散的类别。集中化的方法存在规模进化的难题,而分散化的方法往往导致规划质量差。在本文件中,我们提出一个强化的分散式自主航空机器人团队系统,配有集体规划。根据代理物的空间分布,这个系统动态地将团队分成几个小组和孤立的代理物。对于每个小组内部的冲突,我们建议一个名为集体规划的新协调机制。小组规划包括高效的多试探和轨迹联合优化,这可以大大提高规划质量和成功率。我们通过模拟和现实世界实验表明,我们的方法不仅适用于大型团队,而且具有最高水平的规划质量。