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An air-ground multi-robot system is designed for the purpose of applying bio-inspired sensor-motor modeling on technical systems. It consists of a flying mini-quadrotor equipped with inertial and visual sensors, and a wheeled minirobot equipped with active markers. The system modules, a multi-sensory pose/motion estimation approach and a closedloop control of the flying quadrotor are described in this paper. The quadrotor can hover over the ground robot stably and track the ground robotdoi:10.1109/robio.2009.5420631 dblp:conf/robio/ZhangLAKB09 fatcat:iz5bysoql5h7zgtqqsygtzrlwe