Robot swarms classify arena shapes by estimating a global spectral signature from information exchanged between robots.

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Python 的 scipy.integrate.solve_ivp 里的 method='Radau' 就是这种实现。 另一类值得了解的是 Rosenbrock 族方法。 这类方法在每一步直接把雅可比矩阵线性化整合进格式里，不需要像 BDF 那样做牛顿迭代，代价是形成了更高维的线性系统。