Aggressive Visual Perching with Quadrotors on Inclined Surfaces

@article{Mao2021AggressiveVP,
  title={Aggressive Visual Perching with Quadrotors on Inclined Surfaces},
  author={Jeffrey Mao and Guanrui Li and Stephen M. Nogar and Christopher M. Kroninger and Giuseppe Loianno},
  journal={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2021},
  pages={5242-5248}
}
Autonomous Micro Aerial Vehicles (MAVs) have the potential to be employed for surveillance and monitoring tasks. By perching and staring on one or multiple locations aerial robots can save energy while concurrently increasing their overall mission time without actively flying. In this paper, we address the estimation, planning, and control problems for autonomous perching on inclined surfaces with small quadrotors using visual and inertial sensing. We focus on planning and executing dynamically… 

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