Research on Formation Reorganization Optimization and Trajectory Planning for Robotic Swan Light Performance on Water Surface

This paper proposes a method for a robotic swan light performance on the water surface, conducting an in-depth study on the reorganization and trajectory planning of the formation. In response to the reorganization needs of the performance formation faced by the water surface robot group, this scheme takes into account the performance requirements of individual robots and the collaborative effect of the entire group, realizing optimal aesthetic adjustment of the formation reorganization allocation. At the same time, the scheme also includes a trajectory planning method, which ensures the smooth and continuous motion of the swan water surface robots on the water through the distributed model predictive control (DMPC) framework, while avoiding potential collisions, enhance the lighting effects of the swan water surface performance by the robot swarm.