@article {cocchioni2016visual, title = {Visual Based Landing for an Unmanned Quadrotor}, journal = {Journal of Intelligent \& Robotic Systems}, volume = {84}, number = {1-4}, year = {2016}, pages = {511{\textendash}528}, publisher = {Springer Netherlands}, author = {Francesco Cocchioni and Emanuele Frontoni and Ippoliti, Gianluca and Sauro Longhi and Adriano Mancini and Primo Zingaretti} }