{"id":"https://openalex.org/W4405800357","doi":"https://doi.org/10.1109/tro.2024.3522155","title":"Swarm-LIO2: Decentralized Efficient LiDAR-Inertial Odometry for Aerial Swarm Systems","display_name":"Swarm-LIO2: Decentralized Efficient LiDAR-Inertial Odometry for Aerial Swarm Systems","publication_year":2024,"publication_date":"2024-12-25","ids":{"openalex":"https://openalex.org/W4405800357","doi":"https://doi.org/10.1109/tro.2024.3522155"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2024.3522155","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3522155","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065969871","display_name":"Fangcheng Zhu","orcid":"https://orcid.org/0000-0001-7999-6784"},"institutions":[{"id":"https://openalex.org/I4210126231","display_name":"Robotic Research (United States)","ror":"https://ror.org/035w78024","country_code":"US","type":"company","lineage":["https://openalex.org/I4210126231"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK","US"],"is_corresponding":false,"raw_author_name":"Fangcheng Zhu","raw_affiliation_strings":["Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, The University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0001-7999-6784","affiliations":[{"raw_affiliation_string":"Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, The University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I4210126231","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081404350","display_name":"Yunfan Ren","orcid":"https://orcid.org/0000-0002-5392-8924"},"institutions":[{"id":"https://openalex.org/I4210126231","display_name":"Robotic Research (United States)","ror":"https://ror.org/035w78024","country_code":"US","type":"company","lineage":["https://openalex.org/I4210126231"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK","US"],"is_corresponding":false,"raw_author_name":"Yunfan Ren","raw_affiliation_strings":["Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, The University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-5392-8924","affiliations":[{"raw_affiliation_string":"Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, The University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I4210126231","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090495947","display_name":"Longji Yin","orcid":"https://orcid.org/0000-0003-2267-5298"},"institutions":[{"id":"https://openalex.org/I4210126231","display_name":"Robotic Research (United States)","ror":"https://ror.org/035w78024","country_code":"US","type":"company","lineage":["https://openalex.org/I4210126231"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK","US"],"is_corresponding":false,"raw_author_name":"Longji Yin","raw_affiliation_strings":["Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, The University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0003-2267-5298","affiliations":[{"raw_affiliation_string":"Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, The University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I4210126231","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028346445","display_name":"Fanze Kong","orcid":"https://orcid.org/0000-0003-2391-3702"},"institutions":[{"id":"https://openalex.org/I4210126231","display_name":"Robotic Research (United States)","ror":"https://ror.org/035w78024","country_code":"US","type":"company","lineage":["https://openalex.org/I4210126231"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK","US"],"is_corresponding":false,"raw_author_name":"Fanze Kong","raw_affiliation_strings":["Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, The University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0003-2391-3702","affiliations":[{"raw_affiliation_string":"Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, The University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I4210126231","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101497698","display_name":"Qingbo Liu","orcid":"https://orcid.org/0000-0002-4825-4507"},"institutions":[{"id":"https://openalex.org/I4210126231","display_name":"Robotic Research (United States)","ror":"https://ror.org/035w78024","country_code":"US","type":"company","lineage":["https://openalex.org/I4210126231"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK","US"],"is_corresponding":false,"raw_author_name":"Qingbo Liu","raw_affiliation_strings":["Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, The University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, The University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I4210126231","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015696955","display_name":"Rushun Xue","orcid":null},"institutions":[{"id":"https://openalex.org/I4210126231","display_name":"Robotic Research (United States)","ror":"https://ror.org/035w78024","country_code":"US","type":"company","lineage":["https://openalex.org/I4210126231"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK","US"],"is_corresponding":false,"raw_author_name":"Ruize Xue","raw_affiliation_strings":["Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, The University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, The University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I4210126231","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100684673","display_name":"Wenyi Liu","orcid":"https://orcid.org/0009-0003-4521-3624"},"institutions":[{"id":"https://openalex.org/I4210126231","display_name":"Robotic Research (United States)","ror":"https://ror.org/035w78024","country_code":"US","type":"company","lineage":["https://openalex.org/I4210126231"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK","US"],"is_corresponding":false,"raw_author_name":"Wenyi Liu","raw_affiliation_strings":["Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, The University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0009-0003-4521-3624","affiliations":[{"raw_affiliation_string":"Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, The University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I4210126231","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102243833","display_name":"Yixi Cai","orcid":"https://orcid.org/0000-0003-0321-1164"},"institutions":[{"id":"https://openalex.org/I4210126231","display_name":"Robotic Research (United States)","ror":"https://ror.org/035w78024","country_code":"US","type":"company","lineage":["https://openalex.org/I4210126231"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK","US"],"is_corresponding":false,"raw_author_name":"Yixi Cai","raw_affiliation_strings":["Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, The University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0003-0321-1164","affiliations":[{"raw_affiliation_string":"Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, The University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I4210126231","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035747404","display_name":"Guozheng Lu","orcid":"https://orcid.org/0000-0002-4977-0423"},"institutions":[{"id":"https://openalex.org/I4210126231","display_name":"Robotic Research (United States)","ror":"https://ror.org/035w78024","country_code":"US","type":"company","lineage":["https://openalex.org/I4210126231"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK","US"],"is_corresponding":false,"raw_author_name":"Guozheng Lu","raw_affiliation_strings":["Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, The University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-4977-0423","affiliations":[{"raw_affiliation_string":"Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, The University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I4210126231","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059591933","display_name":"Haotian Li","orcid":"https://orcid.org/0000-0001-8431-4098"},"institutions":[{"id":"https://openalex.org/I4210126231","display_name":"Robotic Research (United States)","ror":"https://ror.org/035w78024","country_code":"US","type":"company","lineage":["https://openalex.org/I4210126231"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK","US"],"is_corresponding":false,"raw_author_name":"Haotian Li","raw_affiliation_strings":["Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, The University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0001-8431-4098","affiliations":[{"raw_affiliation_string":"Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, The University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I4210126231","https://openalex.org/I889458895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100460011","display_name":"Fu Zhang","orcid":"https://orcid.org/0000-0002-8636-4168"},"institutions":[{"id":"https://openalex.org/I4210126231","display_name":"Robotic Research (United States)","ror":"https://ror.org/035w78024","country_code":"US","type":"company","lineage":["https://openalex.org/I4210126231"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK","US"],"is_corresponding":false,"raw_author_name":"Fu Zhang","raw_affiliation_strings":["Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, The University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-8636-4168","affiliations":[{"raw_affiliation_string":"Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, The University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I4210126231","https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":11,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":22.7789,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.99265285,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"41","issue":null,"first_page":"960","last_page":"981"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.8719378709793091},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7206029891967773},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.6596760749816895},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6300680637359619},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5536768436431885},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5372896194458008},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.46135449409484863},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.40697982907295227},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.33502060174942017},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.32417750358581543},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.28447914123535156},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.19427147507667542},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0738891065120697}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8719378709793091},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7206029891967773},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.6596760749816895},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6300680637359619},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5536768436431885},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5372896194458008},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.46135449409484863},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.40697982907295227},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.33502060174942017},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.32417750358581543},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.28447914123535156},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.19427147507667542},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0738891065120697},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2024.3522155","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3522155","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-157126","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-157126","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"pmh:oai:hub.hku.hk:10722/357663","is_oa":false,"landing_page_url":"https://hub.hku.hk/handle/10722/357663","pdf_url":null,"source":{"id":"https://openalex.org/S4377196271","display_name":"The HKU Scholars Hub (University of Hong Kong)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I889458895","host_organization_name":"University of Hong Kong","host_organization_lineage":["https://openalex.org/I889458895"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.7799999713897705,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320328844","display_name":"China Electronics Technology Group Corporation","ror":"https://ror.org/0098hst83"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":68,"referenced_works":["https://openalex.org/W1967496036","https://openalex.org/W1968315983","https://openalex.org/W1968917201","https://openalex.org/W1988874269","https://openalex.org/W2019450466","https://openalex.org/W2161299454","https://openalex.org/W2213241233","https://openalex.org/W2260634390","https://openalex.org/W2296228853","https://openalex.org/W2313204139","https://openalex.org/W2342740524","https://openalex.org/W2596260925","https://openalex.org/W2737100565","https://openalex.org/W2745859992","https://openalex.org/W2774206966","https://openalex.org/W2789410150","https://openalex.org/W2886374915","https://openalex.org/W2902857859","https://openalex.org/W2926397355","https://openalex.org/W2969022059","https://openalex.org/W2976722701","https://openalex.org/W2999798211","https://openalex.org/W3002818939","https://openalex.org/W3009466115","https://openalex.org/W3012268014","https://openalex.org/W3089723250","https://openalex.org/W3090291521","https://openalex.org/W3095662029","https://openalex.org/W3096656822","https://openalex.org/W3105339894","https://openalex.org/W3116359960","https://openalex.org/W3133648073","https://openalex.org/W3188485279","https://openalex.org/W3199184510","https://openalex.org/W3204117507","https://openalex.org/W3207644545","https://openalex.org/W4205616157","https://openalex.org/W4206486921","https://openalex.org/W4210423514","https://openalex.org/W4226481925","https://openalex.org/W4229007520","https://openalex.org/W4285235494","https://openalex.org/W4285505354","https://openalex.org/W4285506552","https://openalex.org/W4307437122","https://openalex.org/W4312571988","https://openalex.org/W4312629830","https://openalex.org/W4312944585","https://openalex.org/W4313001381","https://openalex.org/W4313049632","https://openalex.org/W4317796251","https://openalex.org/W4319302559","https://openalex.org/W4324325723","https://openalex.org/W4362500596","https://openalex.org/W4365140241","https://openalex.org/W4383046858","https://openalex.org/W4383066061","https://openalex.org/W4383066353","https://openalex.org/W4385834002","https://openalex.org/W4387682331","https://openalex.org/W4388755261","https://openalex.org/W4389665998","https://openalex.org/W4389666028","https://openalex.org/W4389666463","https://openalex.org/W4400266727","https://openalex.org/W4404520987","https://openalex.org/W4405785343","https://openalex.org/W6854319763"],"related_works":["https://openalex.org/W4247347568","https://openalex.org/W4250716077","https://openalex.org/W2024124515","https://openalex.org/W4300961947","https://openalex.org/W2415234998","https://openalex.org/W23037264","https://openalex.org/W2374423985","https://openalex.org/W2942773919","https://openalex.org/W2977244052","https://openalex.org/W2782016042"],"abstract_inverted_index":{"Aerial":[0],"swarm":[1,33,60,228,242,292],"systems":[2,243],"possess":[3],"immense":[4],"potential":[5,102,280],"in":[6,189,217],"various":[7,290],"aspects,":[8],"such":[9],"as":[10,68,285],"cooperative":[11],"exploration,":[12],"target":[13],"tracking,":[14],"and":[15,17,22,50,54,74,86,94,108,113,130,146,166,174,232,244,250],"search":[16],"rescue.":[18],"Efficient":[19],"accurate":[20],"self-":[21],"mutual":[23,83,147],"state":[24,138,154,187,204],"estimation":[25,188,205],"are":[26,135],"the":[27,69,92,110,121,172,177,182,190,197,202,209,218,222,236,261,279],"critical":[28],"preconditions":[29],"for":[30,58,185,253,271,289],"completing":[31],"these":[32],"tasks,":[34],"which":[35,220,265],"remain":[36],"challenging":[37],"research":[38],"topics.":[39],"This":[40],"article":[41],"proposes":[42],"Swarm-LIO2,":[43],"a":[44,64,213,272,286],"fully":[45],"decentralized,":[46],"plug-and-play,":[47],"computationally":[48],"efficient,":[49],"bandwidth-efficient":[51,73],"light":[52],"detection":[53],"ranging":[55],"(LiDAR)-inertial":[56],"odometry":[57,270],"aerial":[59,105,241,291],"systems.":[61],"Swarm-LIO2":[62,100,140,211,282],"uses":[63],"decentralized":[65],"plug-and-play":[66],"network":[67],"communication":[70],"infrastructure.":[71],"Only":[72],"low-dimensional":[75],"information":[76],"is":[77],"exchanged,":[78],"including":[79,247],"identity,":[80],"ego":[81,186,203],"state,":[82],"observation":[84,148],"measurements,":[85],"global":[87,114,183,198],"extrinsic":[88,115,184,199],"transformations.":[89],"To":[90,119,207],"support":[91],"plug":[93],"play":[95],"of":[96,163,168,192,224,281],"new":[97],"teammate":[98,103],"participants,":[99],"detects":[101],"autonomous":[104],"vehicles":[106],"(AAVs)":[107],"initializes":[109],"temporal":[111,164],"offset":[112],"transformation":[116],"all":[117],"automatically.":[118],"enhance":[120,171,208],"initialization":[122],"efficiency,":[123],"novel":[124,214],"reflectivity-based":[125],"AAV":[126],"detection,":[127],"trajectory":[128],"matching,":[129],"factor":[131],"graph":[132],"optimization":[133],"methods":[134],"proposed.":[136],"For":[137],"estimation,":[139],"fuses":[141],"LiDAR,":[142],"inertial":[143],"measurement":[144],"units,":[145],"measurements":[149,169],"within":[150],"an":[151],"efficient":[152],"error":[153],"iterated":[155],"Kalman":[156],"filter":[157],"(ESIKF)":[158],"framework,":[159],"with":[160,201,227],"careful":[161],"compensation":[162],"delay":[165],"modeling":[167],"to":[170,239,283],"accuracy":[173],"consistency.":[175],"Moreover,":[176],"proposed":[178],"ESIKF":[179],"framework":[180],"leverages":[181],"case":[191],"LiDAR":[193],"degeneration":[194],"or":[195,255],"refines":[196],"along":[200],"otherwise.":[206],"scalability,":[210],"introduces":[212],"marginalization":[215],"method":[216],"ESIKF,":[219],"prevents":[221],"growth":[223],"computational":[225],"time":[226],"size.":[229],"Extensive":[230],"simulation":[231],"real-world":[233],"experiments":[234],"demonstrate":[235,278],"broad":[237],"adaptability":[238],"large-scale":[240],"complicated":[245],"scenarios,":[246],"GPS-denied":[248],"scenes":[249,252],"degenerated":[251],"cameras":[254],"LiDARs.":[256],"The":[257],"experimental":[258],"results":[259],"showcase":[260],"centimeter-level":[262],"localization":[263],"accuracy,":[264],"outperforms":[266],"other":[267],"state-of-the-art":[268],"LiDAR-inertial":[269],"single-AAV":[273],"system.":[274],"Furthermore,":[275],"diverse":[276],"applications":[277],"serve":[284],"reliable":[287],"infrastructure":[288],"missions.":[293]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":11}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2024-12-26T00:00:00"}
