Visual inertial odometry swarm: An autonomous swarm of vision-based quadrotors

Aaron Weinstein, Adam Cho, Giuseppe Loianno, Vijay Kumar

Research output: Contribution to journalArticlepeer-review


In this letter, we present the system infrastructure for a swarm of quadrotors, which perform all estimation on board using monocular visual inertial odometry. This is a novel system since it does not require an external motion capture system or GPS and is able to execute formation tasks without inter-robot collisions. The swarm can be deployed in nearly any indoor or outdoor scenario and is scalable to higher numbers of robots. We discuss the system architecture, estimation, planning, and control for the multirobot system. The robustness and scalability of the approach is validated in both indoor and outdoor environments with up to 12 quadrotors.

Original languageEnglish (US)
Pages (from-to)1801-1807
Number of pages7
JournalIEEE Robotics and Automation Letters
Issue number3
StatePublished - Jul 2018


  • Aerial systems
  • applications
  • swarms
  • visual-based navigation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Biomedical Engineering
  • Human-Computer Interaction
  • Mechanical Engineering
  • Computer Vision and Pattern Recognition
  • Computer Science Applications
  • Control and Optimization
  • Artificial Intelligence


Dive into the research topics of 'Visual inertial odometry swarm: An autonomous swarm of vision-based quadrotors'. Together they form a unique fingerprint.

Cite this