Cooperative Visual Inertial Odometry for Heterogeneous Swarm of Drones Navigating in Noisy Environments. - Kamil Canberk Atik; Enes Erdogan; Ahmet Yusuf Yahsi; Feyzullah Kara; Baris Yalcin; Gürkan Cetin; Nazim Kemal Ure (ISIE, 2022)