A review of consensus algorithms used in Distributed State Estimation for UAV swarms

The paper presents a review of consensus algorithms that can be applied to Distributed State Estimation for a swarm of the UAVs problem. Consensus algorithms are gaining popularity due to the rapid development of systems based on multi-sensor networks. Swarms of drones can be classified into this group. Sharing information about the state of the entire swarm is necessary e.g., for efficient navigation. The purpose of this study is to analyse the available solutions, apply them to a set of UAVs and evaluate their operation based on simulative studies. The problem of the consensus itself, Distributed State Estimation algorithms and chosen simulation results are presented in the paper.