Prototyping of a multirotor UAV for precision landing under rotor failures

Abstract--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. On the bottom-left arm, a servo allows to tilt the re-configurable motor.