Papers › Omni-swarm: A Decentralized Omnidirectional Visual-Inertial-UWB State Estimation...
Omni-swarm: A Decentralized Omnidirectional Visual-Inertial-UWB State Estimation System for Aerial Swarms
Hao Xu, Yichen Zhang, Boyu Zhou, Luqi Wang, Xinjie Yao, Guotao Meng, Shaojie Shen
The archive published only this paper's code-link row. Authors, date and abstract are from arXiv's metadata (CC0), read from the Kaggle arXiv metadata snapshot of 2026-09-12 where its title matched the archive's; the title is the archive's.
Decentralized state estimation is one of the most fundamental components of autonomous aerial swarm systems in GPS-denied areas yet it still remains a highly challenging research topic. Omni-swarm, a decentralized omnidirectional visual-inertial-UWB state estimation system for aerial swarms, is proposed in this paper to address this research niche. To solve the issues of observability, complicated initialization, insufficient accuracy, and lack of global consistency, we introduce an omnidirectional perception front-end in Omni-swarm. It consists of stereo wide-FoV cameras and ultra-wideband sensors, visual-inertial odometry, multi-drone map-based localization, and visual drone tracking algorithms. The measurements from the front-end are fused with graph-based optimization in the back-end. The proposed method achieves centimeter-level relative state estimation accuracy while guaranteeing global consistency in the aerial swarm, as evidenced by the experimental results. Moreover, supported by Omni-swarm, inter-drone collision avoidance can be accomplished without any external devices, demonstrating the potential of Omni-swarm as the foundation of autonomous aerial swarms.
In Syntology Open this paper in Syntology's Atlas, the map of the papers in Syntology's graph and their citations.
Code
Repository list and official/mentioned flags are the archive's, frozen 2025-07-28. Reachability, where shown, is from one Syntology probe window (2026-09-16 to 2026-09-18); repositories not probed show nothing. GitHub stars are not tracked.
Code Syntology ran Syntology
Not run by Syntology. Nothing on this page verifies that the listed code works.
Results from the paper archive 2025-07-28
No leaderboard rows for this paper in the archive.
Report a problem or propose a change · a person checks every report against the paper or source before anything changes; decisions are listed on /corrections