Decentralized Visual-Inertial-UWB Fusion for Relative State Estimation of Aerial Swarm

Published in 2020 International Conference on Robotics and Automation(ICRA) 2020, 2020

This paper is about a novel fully decentralized visual-inertial-UWB fusion framework for relative state estimation and demonstrate the practicability by performing extensive aerial swarm flight experiments.

Recommended citation: H. Xu, L. Wang, Y. Zhang and S. Shen. (2020) Decentralized visual-inertial-UWB fusion for relative state estimation of aerial swarm. in 2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE.