Collaborative Resilient Navigation Frameworks

There are several possible structures for the organization of the members of an aerial swarm, indicating different collaborative relationships. Meanwhile, there are different frameworks for fusing observations in collaborative navigation. These structures and frameworks determine the various approaches for realizing resilient navigation fusion through collaboration in an aerial swarm. This chapter discusses the leader–follower, parallel, and hierarchical collaborative navigation structures. Additionally, collaborative localization-based and collaborative observation-based fusion frameworks for resilient navigation are proposed.