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
本研究提出一种由四足机器人臂载摄像头外部定位纳米无人机的视觉系统，采用感知感知NMPC保持跟踪，实现中位误差59毫米的自主飞行，并具备遮挡鲁棒性。
AI 中文摘要
纳米无人机（nano-UAVs）能够在比大型机器人更狭窄的空间中导航，但其载荷能力严重限制了在无全球导航卫星系统（GNSS）环境中用于自定位的传感器和计算资源。我们提出了一种基于视觉的系统，该系统利用装有臂载摄像头的四足机器人对纳米无人机进行定位。四足机器人跟踪无人机，使用分割掩码和深度信息在其自身坐标系中估计无人机的位置，并通过实时无线电链路传输该位置。为确保连续跟踪，我们开发了一种感知感知的非线性模型预测控制器（NMPC），该控制器动态调整四足机器人的身体和手臂以最大化无人机的可见性，将观测可靠性视为主要控制目标。仅依赖此外部估计，纳米无人机从起飞到着陆执行了预定轨迹，中位三维定位误差为59毫米。该系统通过在线路暂时丢失时平滑切换到机载惯性飞行，展示了对短暂视觉遮挡的鲁棒性。最终，该框架允许四足机器人卸载纳米无人机的定位负担，使检查两个机器人单独无法导航的复杂空间成为可能。
英文摘要
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.
Comments8 pages, 7 figures, 2 tables. Submitted to ICRA 2027
