Acknowledgement
This work was supported by 2021 Guangdong Province Key Construction Discipline Scientific Research Ability Improvement Project "Research on Key Technologies of Air-ground Multi-Robot Collaboration Based on 5G Communication" (No. 2021ZDJS124). And 2021 Guangzhou College of Technology and business Quality Engineering Construction Project-School-enterprise joint laboratory "Big Data Innovation Lab" (No. ZL20211102).
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