双向自适应框架用于敏捷无人机着陆
A Bi-directional Adaptive Framework for Agile UAV Landing
AI总结：
本文提出双向自适应框架，通过重新定义车辆与平台的角色，实现敏捷无人机着陆的高效、精确与鲁棒性提升。
摘要：
自主着陆于移动平台上对于扩展四旋翼操作灵活性至关重要，但传统方法往往在高度动态场景中效率太低。核心限制在于普遍存在的
英文摘要：
Autonomous landing on mobile platforms is crucial for extending quadcopter operational flexibility, yet conventional methods are often too inefficient for highly dynamic scenarios. The core limitation lies in the prevalent ``track-then-descend'' paradigm, which treats the platform as a passive target and forces the quadcopter to perform complex, sequential maneuvers. This paper challenges that paradigm by introducing a bi-directional cooperative landing framework that redefines the roles of the vehicle and the platform. The essential innovation is transforming the problem from a single-agent tracking challenge into a coupled system optimization. Our key insight is that the mobile platform is not merely a target, but an active agent in the landing process. It proactively tilts its surface to create an optimal, stable terminal attitude for the approaching quadcopter. This active cooperation fundamentally breaks the sequential model by parallelizing the alignment and descent phases. Concurrently, the quadcopter's planning pipeline focuses on generating a time-optimal and dynamically feasible trajectory that minimizes energy consumption. This bi-directional coordination allows the system to execute the recovery in an agile manner, characterized by aggressive trajectory tracking and rapid state synchronization within transient windows. The framework's effectiveness, validated in dynamic scenarios, significantly improves the efficiency, precision, and robustness of autonomous quadrotor recovery in complex and time-constrained missions.
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