A Progress-Aware Leader-Follower Midair Docking System for Dual-Drone Aerial Manipulation
This work presents a progress-aware leader-follower midair docking system for two small drones. The system uses a mission supervisor to manage distinct phases like approach, alignment, capture, and settle by enforcing strict tolerance gates. It integrates hardware and software using ROS 2 and Crazyflie/PX4 interfaces to achieve repeatable docking under tight constraints.