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In this video, we present the system infrastructuremfor a swarm of robots which perform all estimation on-board using monocular Visual Inertial Odometry. This is a novel system since it does not require an external motion capture system or GPS and is able to execute formation tasks without inter-robot collisions. The swarm can be deployed in nearly any indoor or outdoor scenario and is scalable to higher numbers of robots. The robustness and scalability of the approach is validated in both indoor and outdoo
