Omni-Swarm: A Decentralized Omnidirectional Visual–Inertial–UWB State Estimation System for Aerial Swarms

Decentralized state estimation is one of the most fundamental components autonomous aerial swarm systems in GPS-denied areas; yet, it remains a highly challenging research topic. Omni-swarm, decentralized omnidirectional visual–inertial–ultrawideband (UWB) system for swarms, proposed this article to address niche. To solve issues observability, complicated initialization, insufficient accuracy, and lack global consistency, we introduce an perception front end Omni-swarm. It consists stereo wide-field-of-view cameras UWB sensors, visual–inertial odometry, multidrone map-based localization, visual drone tracking algorithms. The measurements from are fused with graph-based optimization back end. method achieves centimeter-level relative accuracy while guaranteeing consistency swarm, as evidenced by experimental results. Moreover, supported interdrone collision avoidance can be accomplished without any external devices, demonstrating potential Omni-swarm foundation swarms.