Visual Servoing of Quadrotors for Perching by Hanging From Cylindrical Objects

Justin Thomas, Giuseppe Loianno, Kostas Daniilidis, Vijay Kumar

Research output: Contribution to journalArticlepeer-review


This letter addresses vision-based localization and servoing for quadrotors to enable autonomous perching by hanging from cylindrical structures using only a monocular camera. We focus on the problems of relative pose estimation, control, and trajectory planning for maneuvering a robot relative to cylinders with unknown orientations. We first develop a geometric model that describes the pose of the robot relative to a cylinder. Then, we derive the dynamics of the system, expressed in terms of the image features. Based on the dynamics, we present a controller, which guarantees asymptotic convergence to the desired image space coordinates. Finally, we develop an effective method to plan dynamically feasible trajectories in the image space, and we provide experimental results to demonstrate the proposed method under different operating conditions such as hovering, trajectory tracking, and perching.

Original languageEnglish (US)
Article number7347389
Pages (from-to)57-64
Number of pages8
JournalIEEE Robotics and Automation Letters
Issue number1
StatePublished - Jan 2016


  • Aerial Robotics
  • Visual Servoing

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Biomedical Engineering
  • Human-Computer Interaction
  • Mechanical Engineering
  • Computer Vision and Pattern Recognition
  • Computer Science Applications
  • Control and Optimization
  • Artificial Intelligence


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