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Integrated Guidance and Control of a Mother-Child UAV-UGV System for Cooperative Missions

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

Autonomous recovery of a small multirotor onto a hovering multirotor carrier differs from recovery onto ground or shipborne platforms because the recovery surface is itself an actively controlled, thrust-limited aerial vehicle. This paper presents a field-validated autonomy framework for a heterogeneous rover-mothership-child system executing rover supervision, mothership transit, child deployment and sortie, autonomous return, aerial recovery, and synchronized descent. The recovery stack combines jerk-bounded reference generation, disturbance-observer-augmented planar tracking, feasibility-aw

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