Preprint
Sep 2026
Robust Active-Perception Control for Global-State-Free Aerial-Ground Cooperation
Aerial-ground cooperation requires real-time UAV--UGV relative-state information. Instead of maintaining global estimates for both robots, direct control in a UGV-attached non-inertial frame avoids reliance on global localization. Vision-based relative pose estimation with a passive marker offers a low-cost and effecti...
Ming-Xuan Zhang, Jia-Jun Yu, Bao-Zhe Zhang et al.
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