{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,2]],"date-time":"2026-02-02T15:51:27Z","timestamp":1770047487591,"version":"3.49.0"},"reference-count":74,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2026,2,2]],"date-time":"2026-02-02T00:00:00Z","timestamp":1769990400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2026,2,2]],"date-time":"2026-02-02T00:00:00Z","timestamp":1769990400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"name":"FRQ PRISME-ART","award":["2022-ART-312532"],"award-info":[{"award-number":["2022-ART-312532"]}]},{"DOI":"10.13039\/501100000038","name":"Natural Sciences and Engineering Research Council of Canada","doi-asserted-by":"publisher","award":["Nserc Alliance grant (ALLRP 566182-21)"],"award-info":[{"award-number":["Nserc Alliance grant (ALLRP 566182-21)"]}],"id":[{"id":"10.13039\/501100000038","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Swarm Intell"],"published-print":{"date-parts":[[2026,12]]},"DOI":"10.1007\/s11721-025-00256-z","type":"journal-article","created":{"date-parts":[[2026,2,2]],"date-time":"2026-02-02T04:44:39Z","timestamp":1770007479000},"page":"1-23","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Swarm robotics localization: comparing methods from infrared to foundation models"],"prefix":"10.1007","volume":"20","author":[{"given":"Ali","family":"Imran","sequence":"first","affiliation":[]},{"given":"Vivek Shankar","family":"Varadharajan","sequence":"additional","affiliation":[]},{"given":"Rafael","family":"Gomes Braga","sequence":"additional","affiliation":[]},{"given":"Giovanni","family":"Beltrame","sequence":"additional","affiliation":[]},{"given":"David","family":"St-Onge","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2026,2,2]]},"reference":[{"key":"256_CR1","doi-asserted-by":"publisher","first-page":"309","DOI":"10.1007\/s43154-021-00063-4","volume":"2","author":"M Abdelkader","year":"2021","unstructured":"Abdelkader, M., G\u00fcler, S., Jaleel, H., & Shamma, J. S. (2021). Aerial swarms: Recent applications and challenges. Current Robotics Reports, 2, 309\u2013320.","journal-title":"Current Robotics Reports"},{"key":"256_CR2","doi-asserted-by":"publisher","DOI":"10.1016\/j.compag.2021.106608","volume":"193","author":"D Albiero","year":"2022","unstructured":"Albiero, D., Pontin Garcia, A., Kiyoshi Umezu, C., & Leme de Paulo, R. (2022). Swarm robots in mechanized agricultural operations: A review about challenges for research. Computers and Electronics in Agriculture, 193, Article 106608. https:\/\/doi.org\/10.1016\/j.compag.2021.106608","journal-title":"Computers and Electronics in Agriculture"},{"key":"256_CR3","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2021.103849","volume":"144","author":"C Baumann","year":"2021","unstructured":"Baumann, C., & Martinoli, A. (2021). A modular functional framework for the design and evaluation of multi-robot navigation. Robotics and Autonomous Systems, 144, Article 103849. https:\/\/doi.org\/10.1016\/j.robot.2021.103849","journal-title":"Robotics and Autonomous Systems"},{"key":"256_CR4","doi-asserted-by":"publisher","unstructured":"Bayer, J., & Faigl, J. (2019). On Autonomous Spatial Exploration with Small Hexapod Walking Robot using Tracking Camera Intel RealSense T265. In: 2019 European Conference on Mobile Robots (ECMR). pp.\u00a01\u20136. https:\/\/doi.org\/10.1109\/ECMR.2019.8870968","DOI":"10.1109\/ECMR.2019.8870968"},{"key":"256_CR5","doi-asserted-by":"publisher","first-page":"292","DOI":"10.1016\/j.neucom.2015.05.116","volume":"172","author":"L Bay\u0131nd\u0131r","year":"2016","unstructured":"Bay\u0131nd\u0131r, L. (2016). A review of swarm robotics tasks. Neurocomputing, 172, 292\u2013321. https:\/\/doi.org\/10.1016\/j.neucom.2015.05.116","journal-title":"Neurocomputing"},{"issue":"50","key":"256_CR6","doi-asserted-by":"publisher","first-page":"eabd8668","DOI":"10.1126\/scirobotics.abd8668","volume":"6","author":"F Berlinger","year":"2021","unstructured":"Berlinger, F., Gauci, M., & Nagpal, R. (2021). Implicit coordination for 3D underwater collective behaviors in a fish-inspired robot swarm. Science Robotics, 6(50), eabd8668.","journal-title":"Science Robotics"},{"key":"256_CR7","unstructured":"Bitcraze (2024). Crazyflie Platform Overview. https:\/\/www.bitcraze.io\/documentation\/system\/platform\/, accessed: 2024-11-19"},{"key":"256_CR8","unstructured":"Blumenkamp, J., Morad, S., Gielis, J., & Prorok, A. (2025). CoViS-Net: A cooperative visual spatial foundation model for multi-robot applications. In: Agrawal, P., Kroemer, O., Burgard, W. (eds.) Proceedings of The 8th Conference on Robot Learning. Proceedings of Machine Learning Research, vol.\u00a0270, pp. 3780\u20133808. PMLR, https:\/\/proceedings.mlr.press\/v270\/blumenkamp25a.html"},{"key":"256_CR9","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/TIM.2021.3069486","volume":"70","author":"S Bottigliero","year":"2021","unstructured":"Bottigliero, S., Milanesio, D., Saccani, M., & Maggiora, R. (2021). A low-cost indoor real-time locating system based on TDOA estimation of UWB pulse sequences. IEEE Transactions on Instrumentation and Measurement, 70, 1\u201311. https:\/\/doi.org\/10.1109\/TIM.2021.3069486","journal-title":"IEEE Transactions on Instrumentation and Measurement"},{"key":"256_CR10","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s11721-012-0075-2","volume":"7","author":"M Brambilla","year":"2013","unstructured":"Brambilla, M., Ferrante, E., Birattari, M., & Dorigo, M. (2013). Swarm robotics: a review from the swarm engineering perspective. Swarm Intelligence, 7, 1\u201341.","journal-title":"Swarm Intelligence"},{"issue":"17","key":"256_CR11","doi-asserted-by":"publisher","first-page":"13449","DOI":"10.1109\/JIOT.2021.3066243","volume":"8","author":"Y Cao","year":"2021","unstructured":"Cao, Y., Chen, C., St-Onge, D., & Beltrame, G. (2021). Distributed TDMA for mobile UWB network localization. IEEE Internet of Things Journal, 8(17), 13449\u201313464. https:\/\/doi.org\/10.1109\/JIOT.2021.3066243","journal-title":"IEEE Internet of Things Journal"},{"key":"256_CR12","doi-asserted-by":"publisher","unstructured":"Chen, S., Yin, D., & Niu, Y. (2022). A survey of robot swarms\u2019 relative localization method. Sensors 22(12). https:\/\/doi.org\/10.3390\/s22124424","DOI":"10.3390\/s22124424"},{"issue":"2","key":"256_CR13","doi-asserted-by":"publisher","first-page":"307","DOI":"10.1109\/TRO.2015.2400731","volume":"31","author":"J Chen","year":"2015","unstructured":"Chen, J., Gauci, M., Li, W., Kolling, A., & Gro\u00df, R. (2015). Occlusion-based cooperative transport with a swarm of miniature mobile robots. IEEE Transactions on Robotics, 31(2), 307\u2013321. https:\/\/doi.org\/10.1109\/TRO.2015.2400731","journal-title":"IEEE Transactions on Robotics"},{"key":"256_CR14","unstructured":"Clearpath, R. (2024). Dingo indoor mobile robot. https:\/\/clearpathrobotics.com\/dingo-indoor-mobile-robot\/, accessed: 2024-11-19"},{"key":"256_CR15","doi-asserted-by":"publisher","unstructured":"Coppola, M., McGuire, K. N., De\u00a0Wagter, C., & de\u00a0Croon, G. C. H. E. (2020). A survey on swarming with micro air vehicles: Fundamental challenges and constraints. Frontiers in Robotics and AI Volume 7 - 2020. https:\/\/doi.org\/10.3389\/frobt.2020.00018","DOI":"10.3389\/frobt.2020.00018"},{"key":"256_CR16","doi-asserted-by":"publisher","first-page":"1787","DOI":"10.1007\/s10514-018-9760-3","volume":"42","author":"M Coppola","year":"2018","unstructured":"Coppola, M., McGuire, K. N., Scheper, K. Y., & de Croon, G. C. (2018). On-board communication-based relative localization for collision avoidance in micro air vehicle teams. Autonomous Robots, 42, 1787\u20131805.","journal-title":"Autonomous Robots"},{"key":"256_CR17","unstructured":"Corporation, N. (2025). NVIDIA Omniverse Isaac Sim Documentation, https:\/\/docs.omniverse.nvidia.com\/isaacsim\/latest\/index.html, accessed: 2025-01-23"},{"key":"256_CR18","doi-asserted-by":"publisher","unstructured":"de\u00a0Azambuja, R., Fouad, H., Bouteiller, Y., Sol, C., & Beltrame, G. (2022). When being soft makes you tough: A Collision-Resilient quadcopter inspired by arthropods\u2019 exoskeletons. In: 2022 International Conference on Robotics and Automation (ICRA). pp. 7854\u20137860. https:\/\/doi.org\/10.1109\/ICRA46639.2022.9811841","DOI":"10.1109\/ICRA46639.2022.9811841"},{"key":"256_CR19","doi-asserted-by":"publisher","unstructured":"Dias, D., Ventura, R., Lima, P., & Martinoli, A. (2016). On-board vision-based 3D relative localization system for multiple quadrotors. In: 2016 IEEE International Conference on Robotics and Automation (ICRA). pp. 1181\u20131187. https:\/\/doi.org\/10.1109\/ICRA.2016.7487248","DOI":"10.1109\/ICRA.2016.7487248"},{"issue":"7","key":"256_CR20","doi-asserted-by":"publisher","first-page":"1152","DOI":"10.1109\/JPROC.2021.3072740","volume":"109","author":"M Dorigo","year":"2021","unstructured":"Dorigo, M., Theraulaz, G., & Trianni, V. (2021). Swarm robotics: Past, present, and future [point of view]. Proceedings of the IEEE, 109(7), 1152\u20131165. https:\/\/doi.org\/10.1109\/JPROC.2021.3072740","journal-title":"Proceedings of the IEEE"},{"issue":"12","key":"256_CR21","doi-asserted-by":"publisher","first-page":"11754","DOI":"10.1109\/LRA.2024.3495592","volume":"9","author":"Y Durodi\u00e9","year":"2024","unstructured":"Durodi\u00e9, Y., Convens, B., Liu, G., Decoster, T., Munteanu, A., & Vanderborght, B. (2024). Where are you? unscented particle filter for single range relative pose estimation in unobservable motion using UWB and VIO. IEEE Robotics and Automation Letters, 9(12), 11754\u201311761. https:\/\/doi.org\/10.1109\/LRA.2024.3495592","journal-title":"IEEE Robotics and Automation Letters"},{"key":"256_CR22","unstructured":"Floreano, D., & Mattiussi, C. (2008). Bio-inspired artificial intelligence: Theories, methods, and technologies. The MIT Press."},{"key":"256_CR23","unstructured":"Greiff, M. (2017). Modelling and control of the crazyflie quadrotor for aggressive and autonomous flight by optical flow driven state estimation, http:\/\/lup.lub.lu.se\/student-papers\/record\/8905295"},{"issue":"3","key":"256_CR24","doi-asserted-by":"publisher","first-page":"169","DOI":"10.1177\/1756829317695564","volume":"9","author":"K Guo","year":"2017","unstructured":"Guo, K., Qiu, Z., Meng, W., Xie, L., & Teo, R. (2017). Ultra-wideband based cooperative relative localization algorithm and experiments for multiple unmanned aerial vehicles in GPS denied environments. International Journal of Micro Air Vehicles, 9(3), 169\u2013186. https:\/\/doi.org\/10.1177\/1756829317695564","journal-title":"International Journal of Micro Air Vehicles"},{"key":"256_CR25","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-74528-2","volume-title":"Swarm Robotics: A Formal Approach","author":"H Hamann","year":"2018","unstructured":"Hamann, H. (2018). Swarm Robotics: A Formal Approach (1st ed.). Incorporated: Springer Publishing Company.","edition":"1"},{"key":"256_CR26","doi-asserted-by":"publisher","unstructured":"Horyna, J., Walter, V., & Saska, M. (2022). UVDAR-COM: UV-based relative localization of UAVs with integrated optical communication. In: 2022 International Conference on Unmanned Aircraft Systems (ICUAS). pp. 1302\u20131308. https:\/\/doi.org\/10.1109\/ICUAS54217.2022.9836151","DOI":"10.1109\/ICUAS54217.2022.9836151"},{"key":"256_CR27","doi-asserted-by":"publisher","unstructured":"Kasper, M., McGuire, S., & Heckman, C. (2019). A benchmark for visual-inertial odometry systems employing onboard illumination. In: 2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). pp. 5256\u20135263. https:\/\/doi.org\/10.1109\/IROS40897.2019.8968554","DOI":"10.1109\/IROS40897.2019.8968554"},{"issue":"1","key":"256_CR28","doi-asserted-by":"publisher","first-page":"475","DOI":"10.1109\/LRA.2023.3333742","volume":"9","author":"PY Lajoie","year":"2024","unstructured":"Lajoie, P. Y., & Beltrame, G. (2024). Swarm-SLAM: Sparse decentralized collaborative simultaneous localization and mapping framework for multi-robot systems. IEEE Robotics and Automation Letters, 9(1), 475\u2013482. https:\/\/doi.org\/10.1109\/LRA.2023.3333742","journal-title":"IEEE Robotics and Automation Letters"},{"key":"256_CR29","unstructured":"Li, S., Coppola, M., De\u00a0Wagter, C., & de\u00a0Croon, G. C. (2020). An autonomous swarm of micro flying robots with range-based relative localization. arXiv preprint arXiv:2003.05853"},{"key":"256_CR30","doi-asserted-by":"publisher","unstructured":"Li, S., De\u00a0Wagter, C., & De\u00a0Croon, G. C. H. E. (2022). Self-supervised monocular multi-robot relative localization with efficient deep neural networks. In: 2022 International Conference on Robotics and Automation (ICRA). pp. 9689\u20139695. https:\/\/doi.org\/10.1109\/ICRA46639.2022.9812150","DOI":"10.1109\/ICRA46639.2022.9812150"},{"issue":"3","key":"256_CR31","doi-asserted-by":"publisher","first-page":"133","DOI":"10.1504\/IJSNET.2024.137335","volume":"44","author":"Z Li","year":"2024","unstructured":"Li, Z., Fang, H., Zhao, J., & Pang, L. (2024). A multi-node collaborative and iterative UWB localisation algorithm for indoor complex environments. International Journal of Sensor Networks, 44(3), 133\u2013143.","journal-title":"International Journal of Sensor Networks"},{"issue":"1","key":"256_CR32","doi-asserted-by":"publisher","first-page":"439","DOI":"10.1038\/s41467-017-00109-2","volume":"8","author":"N Mathews","year":"2017","unstructured":"Mathews, N., Christensen, A. L., O\u2019Grady, R., Mondada, F., & Dorigo, M. (2017). Mergeable nervous systems for robots. Nature Communications, 8(1), 439.","journal-title":"Nature Communications"},{"issue":"35","key":"256_CR33","doi-asserted-by":"publisher","first-page":"eaaw9710","DOI":"10.1126\/scirobotics.aaw9710","volume":"4","author":"K McGuire","year":"2019","unstructured":"McGuire, K., De Wagter, C., Tuyls, K., Kappen, H., & de Croon, G. C. (2019). Minimal navigation solution for a swarm of tiny flying robots to explore an unknown environment. Science Robotics, 4(35), eaaw9710.","journal-title":"Science Robotics"},{"issue":"5","key":"256_CR34","doi-asserted-by":"publisher","first-page":"1255","DOI":"10.1109\/TRO.2017.2705103","volume":"33","author":"R Mur-Artal","year":"2017","unstructured":"Mur-Artal, R., & Tard\u00f3s, J. D. (2017). ORB-SLAM2: An open-source SLAM system for monocular, stereo, and RGB-D cameras. IEEE Transactions on Robotics, 33(5), 1255\u20131262. https:\/\/doi.org\/10.1109\/TRO.2017.2705103","journal-title":"IEEE Transactions on Robotics"},{"issue":"1","key":"256_CR35","doi-asserted-by":"publisher","first-page":"73","DOI":"10.5772\/54600","volume":"10","author":"I Navarro","year":"2013","unstructured":"Navarro, I., & Mat\u00eda, F. (2013). A survey of collective movement of mobile robots. International Journal of Advanced Robotic Systems, 10(1), 73. https:\/\/doi.org\/10.5772\/54600","journal-title":"International Journal of Advanced Robotic Systems"},{"issue":"1","key":"256_CR36","doi-asserted-by":"publisher","DOI":"10.5402\/2013\/608164","volume":"2013","author":"I Navarro","year":"2013","unstructured":"Navarro, I., & Mat\u00eda, F. (2013). An introduction to swarm robotics. International Scholarly Research Notices, 2013(1), Article 608164. https:\/\/doi.org\/10.5402\/2013\/608164","journal-title":"International Scholarly Research Notices"},{"key":"256_CR37","doi-asserted-by":"publisher","unstructured":"Nguyen, T., Mohta, K., Taylor, C. J., & Kumar, V. (2020). Vision-based multi-MAV Localization with anonymous relative measurements using coupled probabilistic data association filter. In: 2020 IEEE International Conference on Robotics and Automation (ICRA). pp. 3349\u20133355. https:\/\/doi.org\/10.1109\/ICRA40945.2020.9196793","DOI":"10.1109\/ICRA40945.2020.9196793"},{"key":"256_CR38","unstructured":"NVIDIA (2025). Nova Carter \u2014 Isaac Sim 4.2.0 (old). https:\/\/docs.omniverse.nvidia.com\/isaacsim\/latest\/landing_pages\/nova_carter_landing_page.html, accessed: 2025-01-26"},{"key":"256_CR39","doi-asserted-by":"publisher","unstructured":"Pinciroli, C., & Beltrame, G. (2016). Buzz: An extensible programming language for heterogeneous swarm robotics. In: 2016 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). pp. 3794\u20133800. https:\/\/doi.org\/10.1109\/IROS.2016.7759558","DOI":"10.1109\/IROS.2016.7759558"},{"key":"256_CR40","doi-asserted-by":"publisher","first-page":"271","DOI":"10.1007\/s11721-012-0072-5","volume":"6","author":"C Pinciroli","year":"2012","unstructured":"Pinciroli, C., Trianni, V., O\u2019Grady, R., Pini, G., Brutschy, A., Brambilla, M., Mathews, N., Ferrante, E., Di Caro, G., Ducatelle, F., et al. (2012). ARGoS: A modular, parallel, multi-engine simulator for multi-robot systems. Swarm Intelligence, 6, 271\u2013295.","journal-title":"Swarm Intelligence"},{"issue":"4","key":"256_CR41","doi-asserted-by":"publisher","first-page":"547","DOI":"10.1177\/0278364913500364","volume":"33","author":"A Prorok","year":"2014","unstructured":"Prorok, A., & Martinoli, A. (2014). Accurate indoor localization with ultra-wideband using spatial models and collaboration. The International Journal of Robotics Research, 33(4), 547\u2013568. https:\/\/doi.org\/10.1177\/0278364913500364","journal-title":"The International Journal of Robotics Research"},{"issue":"2","key":"256_CR42","doi-asserted-by":"publisher","first-page":"151","DOI":"10.1109\/TMECH.2008.2011810","volume":"14","author":"J Pugh","year":"2009","unstructured":"Pugh, J., Raemy, X., Favre, C., Falconi, R., & Martinoli, A. (2009). A fast onboard relative positioning module for multirobot systems. IEEE\/ASME Transactions on Mechatronics, 14(2), 151\u2013162. https:\/\/doi.org\/10.1109\/TMECH.2008.2011810","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"key":"256_CR43","doi-asserted-by":"publisher","first-page":"520","DOI":"10.1007\/978-3-030-71151-1_46","volume-title":"Experimental Robotics","author":"B Ramtoula","year":"2021","unstructured":"Ramtoula, B., Caccavale, A., Beltrame, G., & Schwager, M. (2021). MSL-RAPTOR: A 6DoF Relative Pose Tracker for Onboard Robotic Perception. In B. Siciliano, C. Laschi, & O. Khatib (Eds.), Experimental Robotics (pp. 520\u2013532). Cham: Springer International Publishing."},{"issue":"7","key":"256_CR44","doi-asserted-by":"publisher","first-page":"966","DOI":"10.1016\/j.robot.2013.08.006","volume":"62","author":"M Rubenstein","year":"2014","unstructured":"Rubenstein, M., Ahler, C., Hoff, N., Cabrera, A., & Nagpal, R. (2014). Kilobot: A low cost robot with scalable operations designed for collective behaviors. Robotics and Autonomous Systems, 62(7), 966\u2013975. https:\/\/doi.org\/10.1016\/j.robot.2013.08.006","journal-title":"Robotics and Autonomous Systems"},{"key":"256_CR45","doi-asserted-by":"crossref","unstructured":"Sarlin, P. E., DeTone, D., Malisiewicz, T., & Rabinovich, A. (2020). Superglue: Learning feature matching with graph neural networks. In: Proceedings of the IEEE\/CVF conference on computer vision and pattern recognition. pp. 4938\u20134947.","DOI":"10.1109\/CVPR42600.2020.00499"},{"key":"256_CR46","doi-asserted-by":"publisher","first-page":"919","DOI":"10.1007\/s10514-016-9567-z","volume":"41","author":"M Saska","year":"2017","unstructured":"Saska, M., Baca, T., Thomas, J., Chudoba, J., Preucil, L., Krajnik, T., Faigl, J., Loianno, G., & Kumar, V. (2017). System for deployment of groups of unmanned micro aerial vehicles in GPS-denied environments using onboard visual relative localization. Autonomous Robots, 41, 919\u2013944.","journal-title":"Autonomous Robots"},{"issue":"2","key":"256_CR47","doi-asserted-by":"publisher","first-page":"2954","DOI":"10.1109\/LRA.2021.3062298","volume":"6","author":"F Schilling","year":"2021","unstructured":"Schilling, F., Schiano, F., & Floreano, D. (2021). Vision-based drone flocking in outdoor environments. IEEE Robotics and Automation Letters, 6(2), 2954\u20132961. https:\/\/doi.org\/10.1109\/LRA.2021.3062298","journal-title":"IEEE Robotics and Automation Letters"},{"key":"256_CR48","doi-asserted-by":"publisher","unstructured":"Schranz, M., Umlauft, M., Sende, M., & Elmenreich, W. (2020). Swarm robotic behaviors and current applications. Frontiers in Robotics and AI Volume 7 - 2020. https:\/\/doi.org\/10.3389\/frobt.2020.00036","DOI":"10.3389\/frobt.2020.00036"},{"key":"256_CR49","unstructured":"Shah, D., Osi\u0144ski, B., ichter, b., & Levine, S. (2023). LM-Nav: Robotic navigation with large pre-trained models of language, vision, and action. In: Liu, K., Kulic, D., Ichnowski, J. (eds.) Proceedings of The 6th Conference on Robot Learning. Proceedings of Machine Learning Research, vol.\u00a0205, pp. 492\u2013504. PMLR, https:\/\/proceedings.mlr.press\/v205\/shah23b.html"},{"issue":"4","key":"256_CR50","doi-asserted-by":"publisher","first-page":"269","DOI":"10.3390\/drones7040269","volume":"7","author":"MM Shahzad","year":"2023","unstructured":"Shahzad, M. M., Saeed, Z., Akhtar, A., Munawar, H., Yousaf, M. H., Baloach, N. K., & Hussain, F. (2023). A review of swarm robotics in a NutShell. Drones, 7(4), 269. https:\/\/doi.org\/10.3390\/drones7040269","journal-title":"Drones"},{"issue":"6","key":"256_CR51","doi-asserted-by":"publisher","first-page":"2834","DOI":"10.1109\/TNET.2022.3186071","volume":"30","author":"F Shan","year":"2022","unstructured":"Shan, F., Huo, H., Zeng, J., Li, Z., Wu, W., & Luo, J. (2022). Ultra-wideband swarm ranging protocol for dynamic and dense networks. IEEE\/ACM Transactions on Networking, 30(6), 2834\u20132848. https:\/\/doi.org\/10.1109\/TNET.2022.3186071","journal-title":"IEEE\/ACM Transactions on Networking"},{"key":"256_CR52","doi-asserted-by":"publisher","first-page":"357","DOI":"10.1016\/j.procs.2020.07.051","volume":"175","author":"W Shule","year":"2020","unstructured":"Shule, W., Almansa, C. M., Queralta, J. P., Zou, Z., & Westerlund, T. (2020). UWB-based localization for multi-UAV systems and collaborative heterogeneous multi-robot systems. Procedia Computer Science, 175, 357\u2013364. https:\/\/doi.org\/10.1016\/j.procs.2020.07.051","journal-title":"Procedia Computer Science"},{"issue":"25","key":"256_CR53","doi-asserted-by":"publisher","first-page":"eaau9178","DOI":"10.1126\/scirobotics.aau9178","volume":"3","author":"I Slavkov","year":"2018","unstructured":"Slavkov, I., Carrillo-Zapata, D., Carranza, N., Diego, X., Jansson, F., Kaandorp, J., Hauert, S., & Sharpe, J. (2018). Morphogenesis in robot swarms. Science Robotics, 3(25), eaau9178.","journal-title":"Science Robotics"},{"key":"256_CR54","doi-asserted-by":"publisher","unstructured":"St-Onge, D., Pinciroli, C., & Beltrame, G. (2018). Circle formation with computation-free robots shows emergent behavioural structure. In: 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). pp. 5344\u20135349. https:\/\/doi.org\/10.1109\/IROS.2018.8593439","DOI":"10.1109\/IROS.2018.8593439"},{"key":"256_CR55","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2020.00051","author":"D St-Onge","year":"2020","unstructured":"St-Onge, D., Varadharajan, V. S., \u0160vogor, I., & Beltrame, G. (2020). From design to deployment: decentralized coordination of heterogeneous robotic teams. Frontiers in Robotics and AI. https:\/\/doi.org\/10.3389\/frobt.2020.00051","journal-title":"Frontiers in Robotics and AI"},{"key":"256_CR56","unstructured":"St\u00f8y, K. (2001). Using Situated Communication in Distributed Autonomous Mobile Robotics. In: Proceedings of the Seventh Scandinavian Conference on Artificial Intelligence. p. 44\u201352. SCAI \u201901, IOS Press, NLD."},{"key":"256_CR57","unstructured":"Strobel, V., Dorigo, M., & Fritz, M. (2024). LLM2Swarm: Robot Swarms that Responsively Reason, Plan, and Collaborate through LLMs. arXiv preprint arXiv:2410.11387"},{"key":"256_CR58","unstructured":"Team, A. H. (2025). HM3D Dataset: High-Quality 3D Scans of Indoor Spaces, https:\/\/aihabitat.org\/datasets\/hm3d\/, accessed: 2025-01-25"},{"key":"256_CR59","doi-asserted-by":"publisher","unstructured":"Tiemann, J., & Wietfeld, C. (2017). Scalable and precise multi-UAV indoor navigation using TDOA-based UWB localization. In: 2017 International Conference on Indoor Positioning and Indoor Navigation (IPIN). pp.\u00a01\u20137. https:\/\/doi.org\/10.1109\/IPIN.2017.8115937","DOI":"10.1109\/IPIN.2017.8115937"},{"key":"256_CR60","doi-asserted-by":"publisher","unstructured":"Trianni, V., & Campo, A. (2015). Fundamental collective behaviors in swarm robotics, pp. 1377\u20131394. Springer Berlin Heidelberg, Berlin, Heidelberg, https:\/\/doi.org\/10.1007\/978-3-662-43505-2_71","DOI":"10.1007\/978-3-662-43505-2_71"},{"key":"256_CR61","doi-asserted-by":"publisher","first-page":"71","DOI":"10.1007\/978-3-031-70932-6_6","volume-title":"Swarm Intelligence","author":"G Tzoumas","year":"2024","unstructured":"Tzoumas, G., Salina, L., McConville, A., Richardson, T., & Hauert, S. (2024). Extinguishing Wildfires in Large Scale Scenarios Using Swarms of UAVs. In H. Hamann, M. Dorigo, L. P\u00e9rez C\u00e1ceres, A. Reina, J. Kuckling, T. K. Kaiser, M. Soorati, K. Hasselmann, & E. Buss (Eds.), Swarm Intelligence (pp. 71\u201383). Cham: Springer Nature Switzerland."},{"issue":"20","key":"256_CR62","doi-asserted-by":"publisher","first-page":"eaat3536","DOI":"10.1126\/scirobotics.aat3536","volume":"3","author":"G V\u00e1s\u00e1rhelyi","year":"2018","unstructured":"V\u00e1s\u00e1rhelyi, G., Vir\u00e1gh, C., Somorjai, G., Nepusz, T., Eiben, A. E., & Vicsek, T. (2018). Optimized flocking of autonomous drones in confined environments. Science Robotics, 3(20), eaat3536.","journal-title":"Science Robotics"},{"issue":"3","key":"256_CR63","doi-asserted-by":"publisher","first-page":"2637","DOI":"10.1109\/LRA.2019.2901683","volume":"4","author":"V Walter","year":"2019","unstructured":"Walter, V., Staub, N., Franchi, A., & Saska, M. (2019). UVDAR system for visual relative localization with application to leader-follower formations of multirotor UAVs. IEEE Robotics and Automation Letters, 4(3), 2637\u20132644. https:\/\/doi.org\/10.1109\/LRA.2019.2901683","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"5","key":"256_CR64","doi-asserted-by":"publisher","first-page":"832","DOI":"10.3390\/rs16050832","volume":"16","author":"D Wang","year":"2024","unstructured":"Wang, D., Lian, B., Liu, Y., Gao, B., & Zhang, S. (2024). Resilient cooperative localization based on factor graphs for multirobot systems. Remote Sensing, 16(5), 832. https:\/\/doi.org\/10.3390\/rs16050832","journal-title":"Remote Sensing"},{"issue":"5","key":"256_CR65","doi-asserted-by":"publisher","first-page":"2399","DOI":"10.3390\/s23052399","volume":"23","author":"S Wang","year":"2023","unstructured":"Wang, S., Wang, Y., Li, D., & Zhao, Q. (2023). Distributed relative localization algorithms for multi-robot networks: A survey. Sensors, 23(5), 2399. https:\/\/doi.org\/10.3390\/s23052399","journal-title":"Sensors"},{"issue":"3","key":"256_CR66","doi-asserted-by":"publisher","first-page":"395","DOI":"10.1007\/s10514-019-09860-5","volume":"44","author":"A Wasik","year":"2020","unstructured":"Wasik, A., Lima, P. U., & Martinoli, A. (2020). A robust localization system for multi-robot formations based on an extension of a Gaussian mixture probability hypothesis density filter. Autonomous Robots, 44(3), 395\u2013414.","journal-title":"Autonomous Robots"},{"issue":"3","key":"256_CR67","doi-asserted-by":"publisher","first-page":"1801","DOI":"10.1109\/LRA.2018.2800119","volume":"3","author":"A Weinstein","year":"2018","unstructured":"Weinstein, A., Cho, A., Loianno, G., & Kumar, V. (2018). Visual inertial odometry swarm: An autonomous swarm of vision-based quadrotors. IEEE Robotics and Automation Letters, 3(3), 1801\u20131807.","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"6","key":"256_CR68","doi-asserted-by":"publisher","first-page":"3374","DOI":"10.1109\/TRO.2022.3182503","volume":"38","author":"H Xu","year":"2022","unstructured":"Xu, H., Zhang, Y., Zhou, B., Wang, L., Yao, X., Meng, G., & Shen, S. (2022). Omni-Swarm: A decentralized omnidirectional Visual\u2013Inertial\u2013UWB state estimation system for aerial swarms. IEEE Transactions on Robotics, 38(6), 3374\u20133394. https:\/\/doi.org\/10.1109\/TRO.2022.3182503","journal-title":"IEEE Transactions on Robotics"},{"key":"256_CR69","doi-asserted-by":"publisher","unstructured":"Yang, C., Liu, Y., & Zell, A. (2020). RCPNet: Deep-learning based relative camera pose estimation for UAVs. In: 2020 International Conference on Unmanned Aircraft Systems (ICUAS). pp. 1085\u20131092. https:\/\/doi.org\/10.1109\/ICUAS48674.2020.9214000","DOI":"10.1109\/ICUAS48674.2020.9214000"},{"issue":"1","key":"256_CR70","doi-asserted-by":"publisher","first-page":"1020","DOI":"10.1109\/JSEN.2021.3130724","volume":"22","author":"B Yang","year":"2022","unstructured":"Yang, B., Yang, E., Yu, L., & Loeliger, A. (2022). High-precision UWB-based localisation for UAV in extremely confined environments. IEEE Sensors Journal, 22(1), 1020\u20131029. https:\/\/doi.org\/10.1109\/JSEN.2021.3130724","journal-title":"IEEE Sensors Journal"},{"key":"256_CR71","doi-asserted-by":"publisher","unstructured":"Yun, Y., Peng, G., Zhou, Y., Zhang, J., Liu, Y., Mao, K., & Wang, D. (2025). Overlapping free: Anchorless UWB-assisted relative pose estimation for multi-robot systems. In: 2025 IEEE International Conference on Robotics and Automation (ICRA). pp. 12586\u201312592. https:\/\/doi.org\/10.1109\/ICRA55743.2025.11127904","DOI":"10.1109\/ICRA55743.2025.11127904"},{"issue":"3","key":"256_CR72","doi-asserted-by":"publisher","first-page":"6359","DOI":"10.1109\/LRA.2022.3171096","volume":"7","author":"P Zhang","year":"2022","unstructured":"Zhang, P., Chen, G., Li, Y., & Dong, W. (2022). Agile formation control of drone flocking enhanced with active vision-based relative localization. IEEE Robotics and Automation Letters, 7(3), 6359\u20136366. https:\/\/doi.org\/10.1109\/LRA.2022.3171096","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"66","key":"256_CR73","doi-asserted-by":"publisher","first-page":"eabm5954","DOI":"10.1126\/scirobotics.abm5954","volume":"7","author":"X Zhou","year":"2022","unstructured":"Zhou, X., Wen, X., Wang, Z., Gao, Y., Li, H., Wang, Q., Yang, T., Lu, H., Cao, Y., Xu, C., et al. (2022). Swarm of micro flying robots in the wild. Science Robotics, 7(66), eabm5954.","journal-title":"Science Robotics"},{"key":"256_CR74","doi-asserted-by":"publisher","unstructured":"Zhu, F., Ren, Y., Kong, F., Wu, H., Liang, S., Chen, N., Xu, W., & Zhang, F. (2023). Swarm-LIO: Decentralized Swarm LiDAR-inertial Odometry. In: 2023 IEEE International Conference on Robotics and Automation (ICRA). pp. 3254\u20133260. https:\/\/doi.org\/10.1109\/ICRA48891.2023.10161355","DOI":"10.1109\/ICRA48891.2023.10161355"}],"container-title":["Swarm Intelligence"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11721-025-00256-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11721-025-00256-z","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11721-025-00256-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,2,2]],"date-time":"2026-02-02T04:44:43Z","timestamp":1770007483000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11721-025-00256-z"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,2,2]]},"references-count":74,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2026,12]]}},"alternative-id":["256"],"URL":"https:\/\/doi.org\/10.1007\/s11721-025-00256-z","relation":{},"ISSN":["1935-3812","1935-3820"],"issn-type":[{"value":"1935-3812","type":"print"},{"value":"1935-3820","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,2,2]]},"assertion":[{"value":"27 January 2025","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"10 October 2025","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"2 February 2026","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare no Conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}]}}