Before revision:  The state estimation module, together with the planning and the control modules, is integrated on the aerial system with Omni-directional sensors to attain the Omni-swarm, and extensive experiments are performed to verify the validity and examine the performance of the proposed framework  .
After revision:  The state estimation module, together with the planning and the control modules, is integrated on the aerial system with Omni-directional sensors to attain the Omni-swarm, and algorithms, which includes fisheye visual inertial odometry (VIO), multi-drone map-based localization and visual object detector. A graph-based optimization and forward propagation working as the back-end of the .