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Omni-Swarm: A Decentralized Omnidirectional Visual-Inertial-UWB State Estimation System for Aerial Swarms

Hao Xu, Yichen Zhang, Boyu Zhou, Luqi Wang, Xinjie Yao, Guotao Meng, Shaojie Shen. Omni-Swarm: A Decentralized Omnidirectional Visual-Inertial-UWB State Estimation System for Aerial Swarms. IEEE Transactions on Robotics, 38(6):3374-3394, 2022. [doi]

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