@inbook{cc9e47c9e17a487ab2dacb96faa386d6,
title = "Landing on a moving target using an autonomous helicopter",
abstract = "We present a vision-based algorithm designed to enable an autonomous helicopter to land on a moving target. The helicopter is required to identify the target, track it, and land on it while the target is in motion. We use Hu's moments of inertia for precise target recognition and a Kalman filter for target tracking. Based on the output of the tracker, a simple trajectory controller is implemented which (within the given constraints) ensures that the helicopter is able to land on the target. We present data collected from manual flights which validate our tracking algorithm.",
author = "Srikanth Saripalli and Sukhatme, {Gaurav S.}",
note = "Funding Information: This work is supported in part by N?S? under JPL/Caltech contract 1231521, by D?RPu nder grant D?BT63-99-1-0015 as part of the Mobile ?utonomous Robot Software (M?RS) program, and by ONR grant N00014-00-1-0638 under the DURIP program. We thank Doug Wilson for support with flight trials.",
year = "2006",
doi = "10.1007/10991459_27",
language = "English (US)",
isbn = "3540328017",
series = "Springer Tracts in Advanced Robotics",
pages = "277--286",
editor = "Shinichi Yuta and Hajima Asama and Erwin Prassler and Takashi Tsubouchi and Sebastian",
booktitle = "Robotics",
}