{"id":"https://openalex.org/W7133337728","doi":"https://doi.org/10.48550/arxiv.2603.01404","title":"D-GVIO: A Buffer-Driven and Efficient Decentralized GNSS-Visual-Inertial State Estimator for Multi-Agent Systems","display_name":"D-GVIO: A Buffer-Driven and Efficient Decentralized GNSS-Visual-Inertial State Estimator for Multi-Agent Systems","publication_year":2026,"publication_date":"2026-03-02","ids":{"openalex":"https://openalex.org/W7133337728","doi":"https://doi.org/10.48550/arxiv.2603.01404"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.01404","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.01404","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.01404","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030613989","display_name":"Yarong Luo","orcid":"https://orcid.org/0000-0001-6840-4800"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Luo, Yarong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128013340","display_name":"Wentao Lu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lu, Wentao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127932001","display_name":"Chi Guo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guo, Chi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5128069389","display_name":"Ming Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Ming","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9491999745368958,"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":0.9491999745368958,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.01510000042617321,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T11325","display_name":"Inertial Sensor and Navigation","score":0.012199999764561653,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6881999969482422},{"id":"https://openalex.org/keywords/covariance-intersection","display_name":"Covariance intersection","score":0.6553999781608582},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5788999795913696},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.5285000205039978},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.5228999853134155},{"id":"https://openalex.org/keywords/covariance-matrix","display_name":"Covariance matrix","score":0.4832000136375427},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.46309998631477356},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4221000075340271},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.4147999882698059}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6991000175476074},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6881999969482422},{"id":"https://openalex.org/C83042196","wikidata":"https://www.wikidata.org/wiki/Q5178898","display_name":"Covariance intersection","level":4,"score":0.6553999781608582},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5788999795913696},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.5285000205039978},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.5228999853134155},{"id":"https://openalex.org/C185142706","wikidata":"https://www.wikidata.org/wiki/Q1134404","display_name":"Covariance matrix","level":2,"score":0.4832000136375427},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.46309998631477356},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4221000075340271},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.4147999882698059},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4023999869823456},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.39739999175071716},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.3725999891757965},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.367000013589859},{"id":"https://openalex.org/C2985963534","wikidata":"https://www.wikidata.org/wiki/Q7603704","display_name":"State information","level":3,"score":0.34610000252723694},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33320000767707825},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3255999982357025},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.3165000081062317},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.3093000054359436},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.3086000084877014},{"id":"https://openalex.org/C178674793","wikidata":"https://www.wikidata.org/wiki/Q6031077","display_name":"Information filtering system","level":2,"score":0.2831000089645386},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.27639999985694885},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.2736999988555908},{"id":"https://openalex.org/C29265498","wikidata":"https://www.wikidata.org/wiki/Q7047719","display_name":"Noise measurement","level":3,"score":0.273499995470047},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.27160000801086426},{"id":"https://openalex.org/C195912565","wikidata":"https://www.wikidata.org/wiki/Q6664565","display_name":"Local system","level":2,"score":0.26899999380111694},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2644999921321869},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.25699999928474426},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.2531999945640564},{"id":"https://openalex.org/C67226441","wikidata":"https://www.wikidata.org/wiki/Q1665389","display_name":"Robust statistics","level":3,"score":0.2529999911785126},{"id":"https://openalex.org/C102248274","wikidata":"https://www.wikidata.org/wiki/Q168388","display_name":"Adaptive filter","level":2,"score":0.2526000142097473}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.01404","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.01404","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.01404","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.01404","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Cooperative":[0],"localization":[1],"is":[2,60,98,121,132,158],"essential":[3],"for":[4,100,148],"swarm":[5],"applications":[6],"like":[7],"collaborative":[8],"exploration":[9],"and":[10,18,36,52,72,78,88,139],"search-and-rescue":[11],"missions.":[12],"However,":[13],"maintaining":[14],"real-time":[15],"capability,":[16],"robustness,":[17],"computational":[19,87],"efficiency":[20],"on":[21],"resource-constrained":[22],"platforms":[23],"presents":[24],"significant":[25],"challenges.":[26],"To":[27],"address":[28],"these":[29],"challenges,":[30],"we":[31,75],"propose":[32],"D-GVIO,":[33],"a":[34,45,128],"buffer-driven":[35,154],"fully":[37],"decentralized":[38],"GNSS-Visual-Inertial":[39],"Odometry":[40],"(GVIO)":[41],"framework":[42,59],"that":[43],"leverages":[44],"novel":[46],"buffering":[47,73],"strategy":[48,131],"to":[49,134,160],"support":[50],"efficient":[51],"robust":[53],"distributed":[54,82],"state":[55,83,106,118],"estimation.":[56],"The":[57],"proposed":[58,159],"characterized":[61],"by":[62,141],"four":[63],"core":[64],"mechanisms.":[65],"Firstly,":[66],"through":[67],"covariance":[68,70],"segmentation,":[69],"intersection":[71],"strategy,":[74],"modularize":[76],"propagation":[77],"update":[79],"steps":[80],"in":[81,167],"estimation,":[84],"significantly":[85],"reducing":[86],"communication":[89],"burdens.":[90],"Secondly,":[91],"the":[92,110,124,143,146],"left-invariant":[93],"extended":[94,112],"Kalman":[95,113],"filter":[96,114],"(L-IEKF)":[97],"adopted":[99],"information":[101],"fusion,":[102],"which":[103],"exhibits":[104],"superior":[105],"estimation":[107],"performance":[108],"over":[109],"traditional":[111],"(EKF)":[115],"since":[116],"its":[117],"transition":[119],"matrix":[120],"independent":[122],"of":[123],"system":[125],"state.":[126],"Thirdly,":[127],"buffer-based":[129],"re-propagation":[130],"employed":[133],"handle":[135],"delayed":[136],"measurements":[137],"efficiently":[138],"accurately":[140],"leveraging":[142],"L-IEKF,":[144],"eliminating":[145],"need":[147],"costly":[149],"re-computation.":[150],"Finally,":[151],"an":[152],"adaptive":[153],"outlier":[155],"detection":[156],"method":[157],"dynamically":[161],"cull":[162],"GNSS":[163],"outliers,":[164],"enhancing":[165],"robustness":[166],"GNSS-challenged":[168],"environments.":[169]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-03-04T00:00:00"}
