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Multi-UAV collaborative trajectory planning based on the custom in￾point method[J/OL]. Journal of automation:1−12 [2021−07−12] https://doi.org/10.16383/j.aas.c200361. [13] 吴莹莹, 丁肇红, 刘华平, 等. 面向环境探测的多智能体 自组织目标搜索算法 [J]. 智能系统学报, 2020, 15(2): 289–295. WU Yingying, DING Zhaohong, LIU Huaping, et al. Self-organizing target search algorithm of multi-agent system for envi-ronment detection[J]. CAAI transactions on intelligent systems, 2020, 15(2): 289–295. [14] 杜永浩, 邢立宁, 蔡昭权. 无人飞行器集群智能调度技 术综述 [J]. 自动化学报, 2020, 46(2): 222–241. DU Yonghao, XING Lining, CAI Zhaoquan. Survey on intelligent scheduling technologies for unmanned flying craft clusters[J]. Acta automatica sinica, 2020, 46(2): [15] ·582· 智 能 系 统 学 报 第 16 卷