Towards Robust Autonomous Landing Systems: Iterative Solutions and Key Lessons Learned

--Uncrewed Aerial V ehicles (UA Vs) have become a focal point of research, with both established companies and startups investing heavily in their development. This paper presents our iterative process in developing a robust autonomous marker-based landing system, highlighting the key challenges encountered and the solutions implemented. It reviews existing systems for autonomous landing processes, and through this aims to contribute to the community by sharing insights and challenges faced during development and testing. Autonomous landing of Uncrewed Aerial V ehicles (UA Vs) represents a critical and core aspect for developing the reliability and safety of UA V operations and paves the way for more complex and ambitious applications of drone technology in both civilian and military domains. Applications such as package delivery services [1] and infrastructure inspections [2] benefit from improved landing systems. Autonomous landing systems can be broadly categorised into two types: marker-based [3] and marker-less [4] .