Autonomous landing on mobile platforms is crucial for extending quadcopter operational flexibility, yet conventional methods are often too inefficient for highly dynamic scenarios. The core limitation lies in the prevalent ``track-then-descend'' paradigm, which treats the platform as a passive target and forces the quadcopter to perform complex, sequential maneuvers. This paper challenges that paradigm by introducing a bi-directional cooperative landing framework that redefines the roles of the vehicle and the platform. The essential innovation is transforming the problem from a single-agent tracking challenge into a coupled system optimization. Our key insight is that the mobile platform is not merely a target, but an active agent in the landing process. It proactively tilts its surface to create an optimal, stable terminal attitude for the approaching quadcopter. This active cooperation fundamentally breaks the sequential model by parallelizing the alignment and descent phases. Concurrently, the quadcopter's planning pipeline focuses on generating a time-optimal and dynamically feasible trajectory that minimizes energy consumption. This bi-directional coordination allows the system to execute the recovery in an agile manner, characterized by aggressive trajectory tracking and rapid state synchronization within transient windows. The framework's effectiveness, validated in dynamic scenarios, significantly improves the efficiency, precision, and robustness of autonomous quadrotor recovery in complex and time-constrained missions.

翻译：在移动平台上自主着陆对于扩展四旋翼飞行器的操作灵活性至关重要，然而传统方法对于高度动态的场景通常效率低下。其核心局限在于普遍采用的"先跟踪后下降"范式，该范式将平台视为被动目标，迫使四旋翼执行复杂、顺序的机动动作。本文通过引入一种重新定义飞行器与平台角色的双向协作着陆框架，向该范式提出挑战。其本质创新在于将问题从单智能体跟踪挑战转变为耦合系统优化。我们的关键见解是：移动平台不仅仅是目标，更是着陆过程中的主动智能体。它主动倾斜其表面，为接近的四旋翼创造最优、稳定的终端姿态。这种主动协作通过并行化对准与下降阶段，从根本上打破了顺序模型。同时，四旋翼的规划管线专注于生成时间最优且动态可行的轨迹，以最小化能量消耗。这种双向协调使得系统能够以敏捷的方式执行回收过程，其特征表现为在瞬态窗口内进行积极的轨迹跟踪和快速的状态同步。该框架在动态场景中验证的有效性，显著提高了复杂且时间受限任务中自主四旋翼回收的效率、精度和鲁棒性。