Zha, J., Y. Fan, T. Zhang, G. Chen, Y. Chen, C. Gao, and X. Chen. “AirCopBench: A Benchmark for Multi-Drone Collaborative Embodied Perception and Reasoning”. Proceedings of the AAAI Conference on Artificial Intelligence, vol. 40, no. 2, Mar. 2026, pp. 1507-15, doi:10.1609/aaai.v40i2.37126.