Before revision:  According to the experiment result, the proposed framework can achieve centimeter-level relative state estimation accuracy while ensuring global consistency  .
After revision:  According to the experiment result, the proposed framework can achieve centimeter-level relative state estimation accuracy while ensuring global consistency . Moreover, supported by the Omni-swarm, inter-drone collision avoidance can be accomplished in a whole decentralized scheme without any external device, demonstrating the potential of Omni-swarm to be the foundation of autonomous aerial swarm flights in different scenarios .