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

> Research article (IEEE Transactions on Robotics, 2022) · cited 137× · AI/ML

**Wikidata**: [openalex:W4285235494](https://www.wikidata.org/wiki/openalex:W4285235494)  
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