外观
论文arXiv 2610.0621523 天前
迈向由四足机器人提供的 Micro-UAV 定位与主动跟踪
原文链接：Towards Quadruped-Provided Localization and Active Tracking for Micro-UAVs（arXiv 2610.06215 · 发布日期：2026-10-05）
Towards Quadruped-Provided Localization and Active Tracking for Micro-UAVs
该研究将 micro-UAV 定位转移到带机械臂的四足机器人上，并在实验室飞行中验证外部位姿支持自主飞行。
核心要点
- micro-UAV 可进入狭小空间，但难以搭载自主飞行所需的传感与计算能力。
- 系统由四足机器人和7自由度机械臂承担定位，末端相机检测无人机 AprilTag 并融合自身定位到共享地图。
- 机械臂作为主动受控观察者随两机器人运动调整位置，使无人机仅携带惯性测量单元并融合外部位姿飞行。
- 实验室飞行中外部位姿精度为12-16 mm，主动跟随将跟踪误差从11.0 cm降至6.9 cm。
验证范围与局限：验证范围为实验室飞行中的一架 micro-UAV 与一台带7自由度机械臂的四足机器人。
英文摘要 (Abstract)
Micro unmanned aerial vehicles (micro-UAVs) are small enough to reach confined spaces that larger robots cannot access, but too small to carry the sensing and computing power required for autonomous flight. We move the localization stack entirely off the aerial platform onto a quadruped robot with a 7-degree-of-freedom (DOF) arm, which supplies the micro-UAV (27 g bare, 42 g with fiducial markers) its full 6-DOF pose. A camera at the arm's end-effector detects AprilTag fiducial markers on the drone and composes that observation with the quadruped's own self-localization to place the drone in a shared map frame, so the ground robot localizes its partner, rather than only tracking it relative to the camera. The arm acts as an actively-controlled observer, repositioning to keep the drone in view as both robots move; the drone carries only an inertial measurement unit and fuses the external pose to fly commanded setpoints. In lab flights the external pose is accurate to 12-16 mm, enough to fly the drone autonomously within 2-5 cm of motion-capture-fed control. Having the quadruped actively follow the drone reduces the tracking error from 11.0 cm to 6.9 cm by holding the camera in the close range, where the markers are most accurate.
作者：Alejandro Lorite Mora, Andrés Faíña
来源
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