@inproceedings{4209ec24dd474b1a81746a85f4270910,
title = "Optical-flow based strategies for landing VTOL UAVs in cluttered environments",
abstract = "This paper considers the question of landing an Unmanned Aerial Vehicles (UAV) using a single monocular camera as the primary exteroceptive sensing modality. The proposed control law is based on tracking a single point feature, representing the desired landing point on a ground plane, along with optical flow computed over the full image. The bearing of the desired landing point is used as a driving term to force convergence, while the optical flow is used to provide a damping force that guarantees both obstacle avoidance as well as damping the convergence of the vehicle to the ground plane ensuring a soft touchdown. A detailed analysis of the system closed-loop dynamics is undertaken and the response of the system is verified in simulation.",
keywords = "Aerial robotics, Landing, Optical flow, UAV, VTOL, Visual servo control",
author = "Lorenzo Rosa and Tarek Hamel and Robert Mahony and Claude Samson",
note = "Publisher Copyright: {\textcopyright} IFAC.; 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 ; Conference date: 24-08-2014 Through 29-08-2014",
year = "2014",
doi = "10.3182/20140824-6-za-1003.01616",
language = "English",
series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
publisher = "IFAC Secretariat",
pages = "3176--3183",
editor = "Edward Boje and Xiaohua Xia",
booktitle = "19th IFAC World Congress IFAC 2014, Proceedings",
}