Visual Servoing Approach to Autonomous UAV Landing on a Moving Vehicle

@article{Keipour2021VisualSA,
  title={Visual Servoing Approach to Autonomous UAV Landing on a Moving Vehicle},
  author={Azarakhsh Keipour and Guilherme A. S. Pereira and Rogerio Bonatti and Rohit Garg and Puru Rastogi and Geetesh Dubey and Sebastian A. Scherer},
  journal={Sensors (Basel, Switzerland)},
  year={2021},
  volume={22}
}
Many aerial robotic applications require the ability to land on moving platforms, such as delivery trucks and marine research boats. We present a method to autonomously land an Unmanned Aerial Vehicle on a moving vehicle. A visual servoing controller approaches the ground vehicle using velocity commands calculated directly in image space. The control laws generate velocity commands in all three dimensions, eliminating the need for a separate height controller. The method has shown the ability… 
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