标题： U2UData-2：用于长时程任务的可扩展蜂群无人机自主飞行数据集 显示英文标题

标题： U2UData-2: A Scalable Swarm UAVs Autonomous Flight Dataset for Long-horizon Tasks

摘要： 群体无人机自主飞行用于长视距（LH）任务对于推动低空经济至关重要。 然而，由于数据集的限制，现有方法仅关注特定的基本任务，在LH任务的真实世界部署中失败。 LH任务不仅仅是基本任务的简单拼接，需要处理长期依赖关系，保持持续状态，并适应动态目标变化。 本文介绍了U2UData-2，这是第一个针对LH任务的大规模群体无人机自主飞行数据集，也是第一个可扩展的群体无人机数据在线收集和算法闭环验证平台。 该数据集由15架无人机在自主协同飞行中捕获，包含12个场景，720条轨迹，120小时，每条轨迹600秒，432万帧LiDAR图像和1296万帧RGB图像。 该数据集还包括覆盖所有飞行路线的亮度、温度、湿度、烟雾和气流值。 该平台支持模拟器、无人机、传感器、飞行算法、编队模式和LH任务的自定义。 通过可视化控制窗口，该平台允许用户通过一键部署在线收集自定义数据集，并通过闭环仿真验证算法。 U2UData-2还引入了一个用于野生动物保护的LH任务，并提供了包含9种最先进模型的全面基准。 U2UData-2可在https://fengtt42.github.io/U2UData-2/找到。 显示英文摘要

摘要： Swarm UAV autonomous flight for Long-Horizon (LH) tasks is crucial for advancing the low-altitude economy. However, existing methods focus only on specific basic tasks due to dataset limitations, failing in real-world deployment for LH tasks. LH tasks are not mere concatenations of basic tasks, requiring handling long-term dependencies, maintaining persistent states, and adapting to dynamic goal shifts. This paper presents U2UData-2, the first large-scale swarm UAV autonomous flight dataset for LH tasks and the first scalable swarm UAV data online collection and algorithm closed-loop verification platform. The dataset is captured by 15 UAVs in autonomous collaborative flights for LH tasks, comprising 12 scenes, 720 traces, 120 hours, 600 seconds per trajectory, 4.32M LiDAR frames, and 12.96M RGB frames. This dataset also includes brightness, temperature, humidity, smoke, and airflow values covering all flight routes. The platform supports the customization of simulators, UAVs, sensors, flight algorithms, formation modes, and LH tasks. Through a visual control window, this platform allows users to collect customized datasets through one-click deployment online and to verify algorithms by closed-loop simulation. U2UData-2 also introduces an LH task for wildlife conservation and provides comprehensive benchmarks with 9 SOTA models. U2UData-2 can be found at https://fengtt42.github.io/U2UData-2/.