DOI: 10.3390/s26216728 ISSN: 1424-8220
A Survey on Intelligent Perception, State Estimation and Multimodal Navigation Technologies for Resource-Constrained Autonomous Systems
Peng Jiang, Heng Zheng, Yongqiang Han, Lina Ju, Zhengui Huang, Yifan ZhaoResource-constrained autonomous systems, including small UAVs, mobile robots, and industrial AGVs, must achieve reliable navigation under strict limits on computation, power, memory, payload, and communication. This survey reviews four connected areas: intelligent perception, learning-enhanced state estimation, multimodal navigation fusion, and edge deployment. It analyzes how recent methods balance accuracy, robustness, latency, and energy efficiency on embedded platforms. The synthesis shows a shift from isolated algorithm optimization toward integrated, deployment-aware navigation frameworks and identifies remaining challenges in generalization, benchmarking, and system-level validation.