Saliency-Based Cooperative Landing of a Multirotor Aerial Vehicle on an Autonomous Surface Vehicle

Joao Silva, Ricardo Mendonca, Francisco Marques, Paulo Rodrigues, Pedro Santana, Jose Barata

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

8 Citations (Scopus)


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.

Original languageEnglish
Title of host publication2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Number of pages8
Publication statusPublished - 2014
Event2014 IEEE International Conference on Robotics and Biomimetics (ROBIO) - Bali, Indonesia
Duration: 5 Dec 201410 Dec 2014


Conference2014 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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