Greedy Kalman-Swarm lets individual robots improve state estimates by greedily fusing available neighbor relative sensing data, yielding better swarm accuracy than independent filters while remaining functional under missing data.
Ieee transactions on robotics38, 3374–3394 (2022)
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Greedy Kalman-Swarm: Improving State Estimation in Robot Swarms in Harsh Environments
Greedy Kalman-Swarm lets individual robots improve state estimates by greedily fusing available neighbor relative sensing data, yielding better swarm accuracy than independent filters while remaining functional under missing data.