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Author(s): Silva, J.
Mendonça, R.
Marques, F.
Rodrigues, P.
Santana, P.
Barata, J.
Date: 2014
Title: Saliency-based cooperative landing of a multirotor aerial vehicle on an autonomous surface vehicle
ISBN: 978-1-4799-7397-2
DOI (Digital Object Identifier): 10.1109/ROBIO.2014.7090550
Abstract: This paper presents a method for vision-based landing of a multirotor unmanned aerial vehicle (UAV) on an autonomous surface vehicle (ASV) equipped with a helipad. The method includes a mechanism for helipad behavioural search when outside the UAV’s field of view, a learning saliency-based mechanism for visual tracking the helipad, and a cooperative strategy for the final vision-based landing phase. Learning how to track the helipad from above occurs during takeoff and cooperation results from having the ASV tracking the UAV for assisting its landing. A set of experimental results with both simulated and physical robots show the feasibility of the presented method.
Peerreviewed: yes
Access type: Open Access
Appears in Collections:ISTAR-CRI - Comunicações a conferências internacionais

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