Review of UAV Swarm Collaborative Navigation

In recent years, with the rapid development of multi-agent swarm, collaborative navigation technology is playing an increasing role in both military and civilian applications. This paper firstly introduces the structure of collaborative navigation, and explains the characteristics of leader-follower, parallel and hierarchical navigation structures; secondly, according to the acquisition of measurement information between cooperative platforms, collaborative navigation methods based on radio navigation and visual navigation are introduced; then from the perspective of collaborative navigation algorithms, methods based on the Bayesian estimation theory, methods based on probabilistic graphical models and methods based on the optimization theory are introduced; finally, the current development trend of collaborative navigation technology is illustrated.