Autonomous systems provide unique and exciting capabilities to enhance mission per-formance in a variety of scenarios. While these systems can operate independently, many modes of operations require multiple systems working as a group or system of systems. This cooperative autonomy results in a variety of technical challenges, including designing the level of cooperation and communication between systems, and understanding the complex phenomena that can arise when systems are networked together inter-dependently. One area of cooperative autonomy is navigation. A group of systems can share navigational data to enhance state estimation capability when a global navigation information, such as GPS, is unavailable. This work developed a method for quantifying the impact cooperative navigation has on navigational precision and accuracy for a aerial multi-vehicle scenario. This is achieved through modeling the systems and simulating the execution of a mission involving multiple vehicles which are allowed to cooperate. An investigation is made into the effect of improving on existing sensor technologies and how that impacts the benefits realized by enabling cooperation.
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