Before revision:  In order to address this research niche, the Omni-swarm, an aerial swarm system with decentralized Omni-directional visual-inertial-UWB state estimation , which features robustness, accuracy, and global consistency, is proposed in this paper.
After revision:  In order to address this research niche, the Omni-swarm, an aerial swarm system with decentralized Omni-directional visual-inertial-UWB state estimation system for the aerial swarm is proposed in this paper.