# 借来的眼睛：带有主动四足观察者的无标记 Nano-UAV 飞行

> 原文链接：https://robotics.hellobike.com/papers/2026-10-07-2610-09967
> 频道：papers | 更新日期：2026-10-07 | 标签：arxiv, cs.RO
> 核心摘要：针对GNSS拒止下nano-UAV自定位受限，利用四足机器人臂载相机外部定位，并在起降预定义轨迹飞行中验证。

# 借来的眼睛：带有主动四足观察者的无标记 Nano-UAV 飞行

::: v-pre
> 原文链接：[Borrowed Eyes: Markerless Nano-UAV Flight with an Active Quadruped Observer](https://arxiv.org/abs/2610.09967)（arXiv 2610.09967 · 发布日期：2026-10-07）

**Borrowed Eyes: Markerless Nano-UAV Flight with an Active Quadruped Observer**

针对GNSS拒止下nano-UAV自定位受限，利用四足机器人臂载相机外部定位，并在起降预定义轨迹飞行中验证。

## 核心要点

- 动机是nano-UAV可进入狭小空间，但载荷限制了GNSS拒止环境中的传感与计算能力。
- 系统由四足机器人跟踪无人机，用分割掩码和深度估计其在自身坐标系中的位置并实时传输。
- 提出感知感知非线性MPC，动态调整四足机身和机械臂，将观测可靠性作为主要控制目标。
- nano-UAV仅依赖外部估计完成从起飞到降落的预定义轨迹，中位3D定位误差为59毫米。

**验证范围与局限**：验证范围为nano-UAV执行预定义起降轨迹，并展示短时视线遮挡下切换到机载惯性飞行的鲁棒性。

## 英文摘要 (Abstract)

Nano unmanned aerial vehicles (nano-UAVs) can navigate confined spaces that larger robots cannot, but their payload capacity severely limits the sensors and compute available for self-localization in global navigation satellite system (GNSS)-denied environments. We present a vision-based system that localizes a nano-UAV from a quadruped robot with an arm-mounted camera. The quadruped tracks the drone, estimates its position in its own coordinate system using segmentation masks and depth, and transmits that position over a real-time radio link. To ensure continuous tracking, we developed a perception-aware nonlinear Model Predictive Controller (NMPC) that dynamically adjusts the quadruped's body and arm to maximize the drone's visibility, treating observation reliability as a primary control objective. Relying solely on this external estimate, the nano-UAV executed predefined trajectories from takeoff to landing with a median 3D localization error of 59 mm. The system demonstrates robustness against short visual occlusions by smoothly transitioning to onboard inertial flight when line-of-sight is temporarily lost. Ultimately, this framework allows a quadruped to offload the localization burden of a nano-UAV, enabling inspection of complex spaces that neither robot could navigate alone.

作者：Alejandro Lorite Mora, Dimitrios Arapis, Andrés Faíña
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## 原始参考来源 (Sources)

- [arXiv 2610.09967：Borrowed Eyes: Markerless Nano-UAV Flight with an Active Quadruped Observer](https://arxiv.org/abs/2610.09967)