# Onboard cooperative relative positioning system for Micro-UAV swarm based on UWB/Vision/INS fusion through distributed graph optimization

> Research article (Measurement, 2024) · cited 16× · AI/ML

**Wikidata**: [openalex:W4396854251](https://www.wikidata.org/wiki/openalex:W4396854251)  
**Source**: https://4ort.xyz/entity/onboard-cooperative-relative-positioning-system-for-micro-uav-swarm-based-on-uwb-vision-ins-fusion-through-distributed-g