**5. Experimental Validation of Quadrotors**

In this section, the validation results of the proposed UT-CLAT method are presented. Validation was performed using hardware platforms that included three quadrotors tracking a ground robot. As shown in Figure 9, the system consists of three Intel Aero RTF quadrotors, referred to as quad1–3, and one TurtleBot ground robot. Each quadrotor is equipped with UWB transmitters and a downward monochrome camera. The UWB sensors measure the relative distance and transmit information when two quadrotors are within the functional range of the UWB sensors. A camera is rigidly connected to the body frame of each quadrotor. A target is detected by the camera when the target is within the field-of-view (FOV). Furthermore, quad1 is assumed to have access to its position through the onboard navigation system. In addition to the above onboard devices, UWB ground anchors are used to record the ground truth states of both robots and the target.

**Figure 9.** Intel Aero RTF quadrotors (equipped with an onboard navigation system, ultra-wide bandwidth (UWB) transmitters, and downward cameras) and the TurtleBot ground robot.
