2024/08/03 by Gaona, Alvaro J., Pose, Claudio D., Giribet, Juan I. +1
#FOS: Computer and information sciences #Robotics (cs.RO)
paper · doi:10.48550/arxiv.2408.01676
This work presents a prototype of a multirotor aerial vehicle capable of precision landing, even under the effects of rotor failures. The manuscript presents the fault-tolerant techniques and mechanical designs to achieve a fault-tolerant multirotor, and a vision-based navigation system required to achieve a precision landing. Preliminary experimental results will be shown, to validate on one hand the fault-tolerant control vehicle and, on the other hand, the autonomous landing algorithm. Also, a prototype of the fault-tolerant UAV is presented, capable of precise autonomous landing, which will be used in future experiments.