target assignment large scale 1 

- Drones Drone 3 and Drone 19 form a line formation: both take off to 15 meters. Drone 3 positions at (248, 494, 15) and Drone 19 positions 19 meters behind at (248, 162, 15). Both maintain formation for monitoring. 任务描述有问题，自相矛盾

- Drones Drone 15 and Drone 14 form a line formation: both take off to 16 meters. Drone 15 positions at (522, 538, 16) and Drone 14 positions 24 meters behind at (522, 19, 16). Both maintain formation for monitoring. 任务描述有问题，自相矛盾

- Five-drone coordination exercise: Drone 7, Drone 10, Drone 2, Drone 8, and Drone 20 take off together to 24 meters altitude, then hold formation at positions (435, 516, 24), (557, 331, 24), (790, 445, 24), (663, 685, 24), and (398, 666, 24) respectively for synchronized operation. Then all five drones move north for 89m, and next move east for 92m. Each drone must complete the specified directional movements (north 89m, then east 92m) regardless of starting position - if obstacles block the path, drones should adjust position as needed to complete the full directed distance in each heading. 不清楚drone_has_moved_directed_distance的计算准则，似乎不是叠加的。

- Four-drone target sweep: Drone 14, Drone 7, Drone 18, and Drone 6 take off together to 20 meters altitude. Drone 14 flies to target Fixed Target 8, Drone 7 flies to target Fixed Target 21, Drone 18 flies to target Fixed Target 25, and Drone 6 flies to target Fixed Target 4. After reaching the targets, all four drones move west for 80m, then south for 72m, then north for 56m together. Each drone must complete the specified directional movements (west 80m, south 72m, north 56m) regardless of starting position - if obstacles block the path, drones should adjust position as needed to complete the full directed distance in each heading. 不清楚drone_has_moved_directed_distance的计算准则，似乎不是叠加的。