نسخة أولية وصول مفتوح
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 …