Zhou, Zhanchong, Huailin Luo, and Tao Zhang. “Research on Formation Reorganization Optimization and Trajectory Planning for Robotic Swan Light Performance on Water Surface”. Frontiers in Computing and Intelligent Systems 10, no. 1 (October 28, 2024): 1–8. Accessed August 14, 2026. https://drpress.org/ojs/index.php/fcis/article/view/26107.