Primitive-Swarm: An Ultra-Lightweight and Scalable Planner for Large-Scale Aerial Swarms. - Jialiang Hou; Xin Zhou 015; Neng Pan; Ang Li 042; Yuxiang Guan; Chao Xu 001; Zhongxue Gan; Fei Gao 011 (IEEE Trans. Robotics, 2025)