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Aerial robots are widely deployed, but highly cluttered environments such as dense forests remain inaccessible to drones and even more so to swarms of drones. In these scenarios, previously unknown surroundings and narrow corridors combined with requirements of swarm coordination can create challenges. To enable swarm navigation in the wild, these researchers developed miniature but fully autonomous drones with a trajectory planner that can function in a timely and accurate manner based on limit
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