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2003.05138
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Decentralized Visual-Inertial-UWB Fusion for Relative State Estimation of Aerial Swarm
IEEE International Conference on Robotics and Automation (ICRA), 2020
11 March 2020
Hao Xu
Luqi Wang
Yichen Zhang
Kejie Qiu
Shaojie Shen
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Papers citing
"Decentralized Visual-Inertial-UWB Fusion for Relative State Estimation of Aerial Swarm"
50 / 51 papers shown
Dual Preintegration for Relative State Estimation
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Reflection-Based Relative Localization for Cooperative UAV Teams Using Active Markers
Tim Felix Lakemann
Daniel Bonilla Licea
V. Walter
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139
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21 Nov 2025
Flying Co-Stereo: Enabling Long-Range Aerial Dense Mapping via Collaborative Stereo Vision of Dynamic-Baseline
Zhaoying Wang
Xingxing Zuo
Wei Dong
195
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31 May 2025
MILUV: A Multi-UAV Indoor Localization dataset with UWB and Vision
Mohammed Shalaby
S. S. Ahmed
Nicholas Dahdah
C. C. Cossette
Jérôme Le Ny
James R. Forbes
196
4
0
19 Apr 2025
Distributed Certifiably Correct Range-Aided SLAM
IEEE International Conference on Robotics and Automation (ICRA), 2025
Alexander Thoms
Alan Papalia
Jared Velasquez
David M. Rosen
Sriram Narasimhan
365
2
0
05 Mar 2025
Swarm-LIO2: Decentralized, Efficient LiDAR-inertial Odometry for UAV Swarms
Fangcheng Zhu
Yunfan Ren
Longji Yin
Fanze Kong
Qingbo Liu
...
Wenyi Liu
Yixi Cai
Guozheng Lu
Haotian Li
Fu Zhang
356
18
0
26 Sep 2024
Preserving Relative Localization of FoV-Limited Drone Swarm via Active Mutual Observation
Lianjie Guo
Zaitian Gongye
Ziyi Xu
Yingjian Wang
Xin Zhou
Jinni Zhou
Fei Gao
214
2
0
01 Jul 2024
Scalable Distance-based Multi-Agent Relative State Estimation via Block Multiconvex Optimization
Tianyue Wu
Gongye Zaitian
Qianhao Wang
Fei Gao
325
8
0
31 May 2024
Scalable Outdoors Autonomous Drone Flight with Visual-Inertial SLAM and Dense Submaps Built without LiDAR
Sebastián Barbas Laina
Simon Boche
Sotiris Papatheodorou
Dimos Tzoumanikas
Xingxing Zuo
Hanzhi Chen
Stefan Leutenegger
267
4
0
14 Mar 2024
Self-Supervised Learning of Visual Robot Localization Using LED State Prediction as a Pretext Task
Mirko Nava
Nicholas Carlotti
Luca Crupi
Daniele Palossi
Alessandro Giusti
SSL
232
4
0
15 Feb 2024
Gaussian-Sum Filter for Range-based 3D Relative Pose Estimation in the Presence of Ambiguities
S. S. Ahmed
Mohammed Shalaby
C. C. Cossette
Jérôme Le Ny
James R. Forbes
272
2
0
13 Feb 2024
MURP: Multi-Agent Ultra-Wideband Relative Pose Estimation with Constrained Communications in 3D Environments
IEEE Robotics and Automation Letters (RA-L), 2023
Andrew Fishberg
Brian J. Quiter
Jonathan P. How
433
12
0
29 Dec 2023
CoVOR-SLAM: Cooperative SLAM using Visual Odometry and Ranges for Multi-Robot Systems
Young-Hee Lee
Chen Zhu
Thomas Wiedemann
E. Staudinger
Siwei Zhang
Christoph Günther
115
3
0
21 Nov 2023
SwarMer: A Decentralized Localization Framework for Flying Light Specks
Hamed Alimohammadzadeh
Shahram Ghandeharizadeh
190
4
0
15 Nov 2023
Fast Localization and Tracking in City-Scale UWB Networks
Nakul Garg
Irtaza Shahid
R. Sheshadri
K. Sundaresan
Nirupam Roy
199
2
0
03 Oct 2023
An Evaluation of Three Distance Measurement Technologies for Flying Light Specks
iMeta (iMeta), 2023
Trung Phan
Hamed Alimohammadzadeh
Heather Culbertson
Shahram Ghandeharizadeh
167
1
0
19 Aug 2023
Fusion of Visual-Inertial Odometry with LiDAR Relative Localization for Cooperative Guidance of a Micro-Scale Aerial Vehicle
Václav Pritzl
Matouš Vrba
P. Štěpán
Martin Saska
350
7
0
30 Jun 2023
Fusing Odometry, UWB Ranging, and Spatial Detections for Relative Multi-Robot Localization
Xianjia Yu
Iacopo Catalano
Paola Torrico Morón
Sahar Salimpour
Tomi Westerlund
Jorge Peña Queralta
344
5
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13 Apr 2023
Decentralized State Estimation: An Approach using Pseudomeasurements and Preintegration
C. C. Cossette
Mohamed Fouad Shalaby
David Saussié
James R. Forbes
305
3
0
08 Apr 2023
Multi-Robot Relative Pose Estimation and IMU Preintegration Using Passive UWB Transceivers
IEEE Transactions on robotics (TRO), 2023
Mohamed Fouad Shalaby
C. C. Cossette
Jérôme Le Ny
James R. Forbes
217
23
0
07 Apr 2023
Exploiting Redundancy for UWB Anomaly Detection in Infrastructure-Free Multi-Robot Relative Localization
Sahar Salimpour
Paola Torrico Morón
Xianjia Yu
Tomi Westerlund
Jorge Peña Queralta
271
5
0
30 Mar 2023
Distributed Optimization in Sensor Network for Scalable Multi-Robot Relative State Estimation
Tianyue Wu
Fei Gao
245
2
0
02 Mar 2023
SRIBO: An Efficient and Resilient Single-Range and Inertia Based Odometry for Flying Robots
Wei Dong
Zheyuan Mei
Yuanjiong Ying
Sijia Chen
Yichen ie
Xiangyang Zhu
251
3
0
06 Nov 2022
D
2
D^2
D
2
SLAM: Decentralized and Distributed Collaborative Visual-inertial SLAM System for Aerial Swarm
IEEE Transactions on robotics (TRO), 2022
Hao Xu
Peize Liu
Xinyi Chen
Shaojie Shen
383
75
0
03 Nov 2022
Swarm-LIO: Decentralized Swarm LiDAR-inertial Odometry
IEEE International Conference on Robotics and Automation (ICRA), 2022
Fangcheng Zhu
Yunfan Ren
Fanze Kong
Huajie Wu
Siqi Liang
Nan Chen
Wei Xu
Fu Zhang
570
42
0
14 Sep 2022
UWB Role Allocation with Distributed Ledger Technologies for Scalable Relative Localization in Multi-Robot Systems
International Symposium on Robotic and Sensors Environments (ISRSE), 2022
Paola Torrico Morón
Salma Salimi
Jorge Peña Queralta
Tomi Westerlund
174
12
0
29 Aug 2022
Vision-based Relative Detection and Tracking for Teams of Micro Aerial Vehicles
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022
Rundong Ge
Moonyoung Lee
Vivek Radhakrishnan
Yang Zhou
Guanrui Li
Giuseppe Loianno
213
11
0
17 Jul 2022
Optimal Multi-robot Formations for Relative Pose Estimation Using Range Measurements
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022
C. C. Cossette
Mohamed Fouad Shalaby
David Saussié
Jérôme Le Ny
James R. Forbes
252
23
0
27 May 2022
Multi-Agent Relative Pose Estimation with UWB and Constrained Communications
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022
Andrew Fishberg
Jonathan P. How
237
37
0
21 Mar 2022
Towards Large-Scale Relative Localization in Multi-Robot Systems with Dynamic UWB Role Allocation
International Conference Robotics and Automation Engineering (ICRAE), 2022
Paola Torrico Morón
Jorge Peña Queralta
Tomi Westerlund
271
11
0
08 Mar 2022
Signature and Log-signature for the Study of Empirical Distributions Generated with GANs
J. Curtò
I. D. Zarzà
Hong-Mei Yan
Carlos T. Calafate
496
1
0
07 Mar 2022
Relative Transformation Estimation Based on Fusion of Odometry and UWB Ranging Data
IEEE Transactions on robotics (TRO), 2022
Yuchun Qian
Lihua Xie
454
49
0
01 Feb 2022
Agile Formation Control of Drone Flocking Enhanced with Active Vision-based Relative Localization
IEEE Robotics and Automation Letters (RA-L), 2021
Peihan Zhang
Gang Chen
Yuzhu Li
Wei Dong
213
50
0
12 Aug 2021
Relative Localization of Mobile Robots with Multiple Ultra-WideBand Ranging Measurements
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2021
Zhiqiang Cao
Ran Liu
Chau Yuen
A. Athukorala
Benny Kai Kiat Ng
M. Mathanraj
U-Xuan Tan
206
49
0
19 Jul 2021
Sniffy Bug: A Fully Autonomous Swarm of Gas-Seeking Nano Quadcopters in Cluttered Environments
Bardienus P. Duisterhof
Shushuai Li
J. Burgués
Vijay Janapa Reddi
Guido de Croon
304
84
0
12 Jul 2021
Decentralized Spatial-Temporal Trajectory Planning for Multicopter Swarms
Xin Zhou
Zhepei Wang
Xian Wen
Jiangchao Zhu
Chao Xu
Fei Gao
291
31
0
23 Jun 2021
Self-supervised Monocular Multi-robot Relative Localization with Efficient Deep Neural Networks
IEEE International Conference on Robotics and Automation (ICRA), 2021
Shushuai Li
Christophe De Wagter
Guido C. H. E de Croon
SSL
325
30
0
26 May 2021
VIRAL SLAM: Tightly Coupled Camera-IMU-UWB-Lidar SLAM
Thien-Minh Nguyen
Shenghai Yuan
Muqing Cao
Yuchun Qian
Lihua Xie
283
47
0
07 May 2021
Relative Position Estimation Between Two UWB Devices with IMUs
IEEE Robotics and Automation Letters (RA-L), 2021
C. C. Cossette
Mohammed Shalaby
David Saussié
James R. Forbes
Jérôme Le Ny
172
49
0
21 Apr 2021
Cooperative UWB-Based Localization for Outdoors Positioning and Navigation of UAVs aided by Ground Robots
International Conference on Autonomic and Autonomous Systems (ICAAS), 2021
Xianjia Yu
Qingqing Li
Jorge Pena Queralta
J. Heikkonen
Tomi Westerlund
307
32
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01 Apr 2021
Applications of UWB Networks and Positioning to Autonomous Robots and Industrial Systems
Mediterranean Conference on Embedded Computing (MECO), 2021
Xianjia Yu
Qingqing Li
Jorge Peña Queralta
J. Heikkonen
Tomi Westerlund
377
58
0
24 Mar 2021
Distributed Visual-Inertial Cooperative Localization
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2021
Pengxiang Zhu
Patrick Geneva
Wei Ren
Guoquan Huang
379
18
0
23 Mar 2021
Towards Large-Scale Scalable MAV Swarms with ROS2 and UWB-based Situated Communication
Jorge Peña Queralta
Xianjia Yu
Qingqing Li
Tomi Westerlund
173
8
0
11 Mar 2021
Omni-swarm: A Decentralized Omnidirectional Visual-Inertial-UWB State Estimation System for Aerial Swarms
IEEE Transactions on robotics (TRO), 2021
Hao Xu
Yichen Zhang
Boyu Zhou
Luqi Wang
Xinjie Yao
Guotao Meng
Shaojie Shen
474
160
0
06 Mar 2021
Adaptive Lidar Scan Frame Integration: Tracking Known MAVs in 3D Point Clouds
International Conference on Advanced Robotics (ICAR), 2021
Qingqing Li
Xianjia Yu
Jorge Peña Queralta
Tomi Westerlund
224
16
0
06 Mar 2021
Resilient Path Planning of UAVs against Covert Attacks on UWB Sensors
Jiayi He
Xin Gong
Yukang Cui
Tingwen Huang
AAML
178
1
0
23 Feb 2021
Vulcan Centaur: towards end-to-end real-time perception in lunar rovers
J. D. Curtó
R. Duvall
261
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0
30 Nov 2020
Cycle-consistent Generative Adversarial Networks for Neural Style Transfer using data from ChangÉ-4
J. D. Curtó
R. Duvall
GAN
151
3
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23 Nov 2020
EGO-Swarm: A Fully Autonomous and Decentralized Quadrotor Swarm System in Cluttered Environments
Xiaoxia Zhou
Jiangchao Zhu
Hongyu Zhou
Chao Xu
Fei Gao
425
197
0
09 Nov 2020
VIO-UWB-Based Collaborative Localization and Dense Scene Reconstruction within Heterogeneous Multi-Robot Systems
International Conference on Advanced Robotics and Mechatronics (ICARM), 2020
Jorge Peña Queralta
Qingqing Li
Fabrizio Schiano
Tomi Westerlund
368
47
0
02 Nov 2020
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