@inproceedings{1ae8a36f77624beb861787a9a9c6ccd3,
title = "Vision-Based Estimation and Tracking on Fixed-Wing Multi-UAV Systems",
abstract = "Accurate tracking of multiple fixed-wing UAVs is a crucial challenge in autonomous aerial systems, particularly in GPS-denied environments where traditional sensors struggle. The bearing-angle estimator extracts target position and velocity purely from onboard visual data, eliminating the need for external positioning systems. This article presents a vision-based estimation and tracking framework for multi-UAV systems that integrates a YOLOv8 and ByteTrack-based tracker based on the bearing-angle state estimation method. ROS2 and Gazebo-based simulation validates the approach, demonstrating successful onboard real-time tracking of three UAVs in formation flight, making it a solution for vision-based multi-UAV coordination.",
keywords = "ROS2, YOLO, fixed-wing UAV, multi-UAV systems, visual tracking",
author = "Pengfei Yang and Yao Fan and Jianwei Zhou and Shuai Zheng and Liang Han",
note = "Publisher Copyright: {\textcopyright} 2025 Technical Committee on Control Theory, Chinese Association of Automation.; 44th Chinese Control Conference, CCC 2025 ; Conference date: 28-07-2025 Through 30-07-2025",
year = "2025",
doi = "10.23919/CCC64809.2025.11179822",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "4366--4371",
editor = "Jian Sun and Hongpeng Yin",
booktitle = "Proceedings of the 44th Chinese Control Conference, CCC 2025",
address = "美国",
}