发表机构
IT University of Copenhagen; Helix Lab; Novo Nordisk A/S（哥本哈根信息技术大学; Helix实验室; 诺和诺德公司）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出由四足机器人搭载机械臂和摄像头，通过检测微型无人机上的AprilTag标记物，为其提供外部定位并主动跟踪，从而减轻无人机载荷，实现高精度自主飞行。
AI 中文摘要
微型无人机（micro-UAV）体积小，能够进入大型机器人无法到达的狭窄空间，但体积过小，无法携带自主飞行所需的感知和计算能力。我们将定位栈完全从空中平台转移到配备7自由度（DOF）机械臂的四足机器人上，该机器人向微型无人机（裸机27克，带标记物42克）提供其完整的6自由度位姿。机械臂末端执行器上的摄像头检测无人机上的AprilTag标记物，并将该观测与四足机器人自身的自定位相结合，将无人机置于共享地图坐标系中，从而使地面机器人定位其伙伴，而不仅仅是相对于摄像头进行跟踪。机械臂充当主动控制的观察者，在两个机器人移动时重新定位以保持无人机在视野内；无人机仅携带惯性测量单元，并融合外部位姿以飞行指令设定点。在实验室飞行中，外部位姿精度为12-16毫米，足以在运动捕捉供控的2-5厘米范围内自主飞行无人机。四足机器人主动跟随无人机，通过将摄像头保持在标记物最准确的近距离，将跟踪误差从11.0厘米减少到6.9厘米。
英文摘要
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.
Comments12 pages, 5 figures. Submitted version (before peer review) of a paper accepted at CLAWAR 2026, Cranfield, UK, 14 to 16 September 2026. The published version, titled "Towards Quadruped-Provided Localization and Active Tracking for Nano-UAVs", will appear in the CLAWAR 2026 proceedings (Springer, Lecture Notes in Networks and Systems)
