@article{6ed6bc11edbb491fb84df3b2ea03507c,
title = "Autonomous landing on a moving vehicle with an unmanned aerial vehicle",
abstract = "This paper addresses the perception, control, and trajectory planning for an aerial platform to identify and land on a moving car at 15 km/hr. The hexacopter unmanned aerial vehicle (UAV), equipped with onboard sensors and a computer, detects the car using a monocular camera and predicts the car future movement using a nonlinear motion model. While following the car, the UAV lands on its roof, and it attaches itself using magnetic legs. The proposed system is fully autonomous from takeoff to landing. Numerous field tests were conducted throughout the year-long development and preparations for the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2017 competition, for which the system was designed. We propose a novel control system in which a model predictive controller is used in real time to generate a reference trajectory for the UAV, which are then tracked by the nonlinear feedback controller. This combination allows to track predictions of the car motion with minimal position error. The evaluation presents three successful autonomous landings during the MBZIRC 2017, where our system achieved the fastest landing among all competing teams.",
keywords = "aerial robotics, control, planning, position estimation",
author = "Tomas Baca and Petr Stepan and Vojtech Spurny and Daniel Hert and Robert Penicka and Martin Saska and Justin Thomas and Giuseppe Loianno and Vijay Kumar",
note = "Funding Information: The outstanding results of this project could not have been achieved without the full cooperation of each member of our team, comprising people from the Czech Technical University in Prague, the University of Pennsylvania, and the University of Lincoln, UK (Figure 20). The work has been supported by CTU grant no. SGS17/ 187/OHK3/3T/13, the Grant Agency of the Czech Republic under grant no. 17‐16900Y, the Office of Naval Research Global grant no. N000140710829, N000141410510, Army Research Laboratory grant no. W911NF1720181, and Khalifa University of Science, Technology and Research grant no. MBZIRC 2017. Funding Information: The outstanding results of this project could not have been achieved without the full cooperation of each member of our team, comprising people from the Czech Technical University in Prague, the University of Pennsylvania, and the University of Lincoln, UK (Figure). The work has been supported by CTU grant no. SGS17/187/OHK3/3T/13, the Grant Agency of the Czech Republic under grant no. 17-16900Y,?the Office of Naval Research Global grant no. N000140710829, N000141410510,?Army Research Laboratory grant no. W911NF1720181, and?Khalifa University of Science, Technology and Research grant no. MBZIRC 2017. Team members after the award ceremony?of the Mohamed Bin Zayed International Robotics Challenge competition in Abu Dhabi, United Arab Emirates [Color figure can be viewed at wileyonlinelibrary.com] Publisher Copyright: {\textcopyright} 2019 Wiley Periodicals, Inc.",
year = "2019",
month = aug,
doi = "10.1002/rob.21858",
language = "English (US)",
volume = "36",
pages = "874--891",
journal = "Journal of Field Robotics",
issn = "1556-4959",
publisher = "John Wiley & Sons Inc.",
number = "5",
}