Agile Formation Control of Drone Flocking Enhanced With Active Vision-Based Relative Localization

The vision-based relative localization can provide effective feedback for the cooperation of aerial swarm and has been widely investigated in previous works. However, limited field view (FOV) inherently restricts its performance. To cope with this issue, we propose a novel distributed active framework apply it to formation control swarms. Inspired by bird flocks nature, realize omnidirectional visual detection vision structure devise graph-based attention planning (GAP) obtain optimal observation target assignment swarm’s vision. Then results are fused onboard measurements from Ultra-WideBand (UWB) visual-inertial odometry (VIO) real-time positions, which further improve performance swarm. Simulations experiments demonstrate that proposed system outperforms fixed terms estimation accuracy.