Omni-Swarm: A Decentralized Omnidirectional Visual-Inertial-UWB State Estimation System for Aerial Swarms.
Hao XuYichen ZhangBoyu ZhouLuqi WangXinjie YaoGuotao MengShaojie ShenPublished in: IEEE Trans. Robotics (2022)
Keyphrases
- state estimation
- kalman filter
- cooperative
- swarm intelligence
- particle swarm optimization
- kalman filtering
- dynamic systems
- state space model
- extended kalman filter
- particle filter
- collective behavior
- visual features
- particle filtering
- visual information
- visual tracking
- inertial sensors
- multi agent
- multi swarm
- omni directional
- pso algorithm
- ultra wideband
- dynamic model
- mobile robot
- honey bee
- field of view
- complex systems
- dynamic environments
- vision system
- search space
- video sequences