关于多无人机的轨迹规划，近年来这个文章很多啊：

• Efficient Multi-Agent Trajectory Planning with Feasibility Guarantee using Relative Bernstein Polynomial
• https://github.com/qwerty35/swarm_simulator
• Fast Trajectory Planning for Multiple Quadrotors using Relative Safe Flight Corridor
• Online Trajectory Planning for Multiple Quadrotors in Dynamic Environment Using RSFC ,ICRA 2021

多车路径规划：

这个用的 Spatiotemporal Hybrid-State A*，不过用了ompl库。

CL-MAPF: Multi-Agent Path Finding for Car-Like Robots with Kinematic and Spatiotemporal Constraints