A Relative Infrastructure-less Localization Algorithm for Decentralized and Autonomous Swarm Formation
Dominik Schindler,Vlad Niculescu,Tommaso Polonelli,Daniele Palossi,Luca Benini,Michele Magno,Dominik Schindler,Vlad Niculescu,Tommaso Polonelli,Daniele Palossi,Luca Benini,Michele Magno
Decentralized and autonomous control of Unmanned Aerial Vehicle (UAV) swarms is a key enabler for cooperative systems and infrastructure-less formation flights. However, UAVs often lack reliable heading angle measurements, especially in indoor scenarios, space, and GNSS-denied environments, posing an additional observability challenge on range-based relative localization. We tackle this problem by...
