# An Online Optimization-Based Trajectory Planning Approach for Cooperative Landing Tasks

arXiv: https://arxiv.org/abs/2502.13823 · HTML: https://mlsanity.com/paper/2502.13823/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 19 Feb 2025.

## Built on by (most cited first, 1 of 1)

- [Learning-Accelerated Optimization-based Trajectory Planning for Cooperative Aerial-Ground Handover Missions](https://mlsanity.com/paper/2605.19562/) (2026)

## Abstract (arXiv)

This paper presents a real-time trajectory planning scheme for a heterogeneous multi-robot system (consisting of a quadrotor and a ground mobile robot) for a cooperative landing task, where the landing position, landing time, and coordination between the robots are determined autonomously under the consideration of feasibility and user specifications. The proposed framework leverages the potential of the complementarity constraint as a decision-maker and an indicator for diverse cooperative tasks and extends it to the collaborative landing scenario. In a potential application of the proposed methodology, a ground mobile robot may serve as a mobile charging station and coordinates in real-time with a quadrotor to be charged, facilitating a safe and efficient rendezvous and landing. We verified the generated trajectories in simulation and real-world applications, demonstrating the real-time capabilities of the proposed landing planning framework.