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About this paper
Parakh M. Gupta, Eric Pairet, Tiago Nascimento, Martin Saska
The authors present a vision-based controller for landing a UAV on a vessel without communication. It estimates vessel motion from an AprilTag, uses an FFT and Kalman observer to predict deck tilt, and adjusts descent to target lower-tilt moments. Reservoir trials achieved touchdown tilt below 5° with 7 m/s wind and 0.3-radian vessel oscillation, not across the full harsh-weather envelope.
Summary by alphaXiv.
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