Adaptive Gain Control Strategy for Constant Optical Flow Divergence Landing

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22 Citations (Scopus)


A control strategy is proposed to deal with the fundamental gain selection problem of optical flow landings. It involves detecting the height by means of an oscillating movement and setting the control gains accordingly at the start of a landing. Then, during descent, the gains are reduced exponentially, with mechanisms in place to ensure high-performance landings. Real-world experiments with a quadrotor demonstrate successful landings in both indoor and outdoor environments.

Original languageEnglish
Pages (from-to)508 - 516
Number of pages9
JournalIEEE Transactions on Robotics
Issue number2
Publication statusPublished - 2018


  • Aerial robotics
  • autonomous landing
  • biologically inspired robots
  • Biomedical optical imaging
  • Cameras
  • Delays
  • optical flow
  • Optical sensors
  • Robot vision systems
  • visual servoing


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