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.
@article{arxiv.2408.01676,
title = {Prototyping of a multirotor UAV for precision landing under rotor failures},
author = {Alvaro J. Gaona and Claudio D. Pose and Juan I. Giribet and Roberto Bunge},
journal= {arXiv preprint arXiv:2408.01676},
year = {2024}
}