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Adaptive Measurement Selection for Scalable Distributed Graph Optimization in Multi-UAV Relative Positioning Cover

Adaptive Measurement Selection for Scalable Distributed Graph Optimization in Multi-UAV Relative Positioning

Measurement Science Review
Volume 25 (2025): Issue 4 (August 2025)
By:  and    
Open Access
|Aug 2025
Figures & tables

Figures & Tables

Fig. 1.

Schematic diagram of relative positioning for UAV swarm. (a) Positioning based on external anchors. (b) Anchor-free relative positioning. (c) The influence of formation on positioning accuracy.

Fig. 2.

The DGO scheme for UAV swarm.

Fig. 3.

UAV swarms used in the simulations. (a) 12-UAV swarm. (b) 24-UAV swarm. (c) 36-UAV swarm. (d) 100-UAV swarm.

Fig. 4.

The flight trajectory of the swarm.

Fig. 5.

Relative positioning error variations with respect to No across four methods. (a) Error curves for the 12-UAV swarm. (b) Error curves for the 24-UAV swarm. (c) Error curves for the 36-UAV swarm. (d) Error curves for the 100-UAV swarm.

Fig. 6.

The variation of computation time per step with No.

Fig. 7.

Relative positioning error for four methods in the 100-UAV swarm under different sensing conditions. (a) No = 4. (b) No = 6. (c) No = 8. (d) No = 10.

Fig. 8.

Dynamic formation reconfiguration. (a) Transformation from rectangle formation to circular formation. (b) Transformation from circular formation to V-formation.

Fig. 9.

Error curves in topology reconfiguration simulation.

The statistical metrics of the relative positioning methods_

MethodMAE (m)STD (m)MAX (m)
State estimation1.6050.3652.606
CGO0.7180.2001.276
DF0.8180.1791.286
Fi-max0.8030.2061.410
Fi-random0.7200.2131.340
Fi-min0.5990.1691.163
DOI: https://doi.org/10.2478/msr-2025-0023 | Journal eISSN: 1335-8871
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Language: English
Page range: 190 - 199
Submitted on: Mar 2, 2025
Accepted on: Jul 25, 2025
Published on: Aug 28, 2025
Published by: Slovak Academy of Sciences, Institute of Measurement Science
In partnership with: Paradigm Publishing Services
Publication frequency: Volume open
Keywords:
UAV swarm,
distributed graph optimization,
Fisher Information Matrix,
optimal measurement constraint
Related subjects:
Engineering,
Electrical engineering,
Control engineering, metrology and testing

© 2025 Chengsong Xiong, Zheng You, published by Slovak Academy of Sciences, Institute of Measurement Science
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Volume 25 (2025): Issue 4 (August 2025)
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