Decentralized Visual-Inertial-UWB Fusion for Relative State Estimation of Aerial Swarm
Hao Xu,Luqi Wang,Yichen Zhang,Kejie Qiu,Shaojie Shen,Hao Xu,Luqi Wang,Yichen Zhang,Kejie Qiu,Shaojie Shen
The collaboration of unmanned aerial vehicles (UAVs) has become a popular research topic for its practicability in multiple scenarios. The collaboration of multiple UAVs, which is also known as aerial swarm is a highly complex system, which still lacks a state-of-art decentralized relative state estimation method. In this paper, we present a novel fully decentralized visual-inertial-UWB fusion fra...
