Collaborative Localization for Micro Aerial Vehicles

@article{Vemprala2021CollaborativeLF,
  title={Collaborative Localization for Micro Aerial Vehicles},
  author={Sai Vemprala and S. Saripalli},
  journal={IEEE Access},
  year={2021},
  volume={9},
  pages={63043-63058}
}
We present a framework for performing collaborative localization for groups of micro aerial vehicles (MAV) that use vision-based sensing. The vehicles are each assumed to be equipped with a monocular camera, and to be capable of communicating with each other. This collaborative localization approach is developed as a decentralized algorithm and built in a distributed fashion where individual and relative pose estimation techniques are combined for the group to localize against surrounding… Expand

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