Paper Accepted at EUSIPCO 2026

We are pleased to announce that our paper has been accepted at the 34th European Signal Processing Conference (EUSIPCO 2026), to be held in Bruges, Belgium:

Consistency-Gated Cooperative Localization for UAV Swarms Under Intermittent GPS

Dimitrios Venetis, Evangelos Vlachos, and Konstantinos Berberidis

This paper addresses the problem of cooperative localization for UAV swarms when GPS is intermittently available. Each agent maintains a local state estimate via an Extended Kalman Filter (EKF), and inter-agent cooperation is achieved through a MAP refinement stage using UWB range and Angle-of-Arrival constraints, solved via ADMM. A consistency gate driven by ADMM residuals and normalized measurement errors selectively accepts cooperative measurements, preventing degradation from inconsistent observations.

The conference proceedings will be published in the open-access EURASIP archive and on IEEE Xplore.