Yes, you do need
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×the other stalwart to stay alive
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×if you send Queen towards (16,18) keep it there, while you handle the stalwart
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×then you need to block stalwart the turn before from killing Queen with the sword. If stalwart moves east, will send Queen NW and start chasing her.
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×i distracted the stalwart until Queen laid eggs, which helped to set this up
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×then you need to follow closely the stalwart to timely kill him
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×Initially i placed the Stalwart on (16,27) with sword facing south