@conference {Cocchioni2014418,
	title = {Autonomous navigation, landing and recharge of a quadrotor using artificial vision},
	booktitle = {2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings},
	year = {2014},
	note = {cited By 1},
	pages = {418-429},
	abstract = {In this paper a solution to UAV reduced endurance and autonomous flight is proposed. With a complete on-board solution, based on artificial vision, the developed system is able to autonomously take off, navigate and land, recharging its battery by using a dedicated landing platform, both in indoor and outdoor scenarios. The landing platform includes a passive centering system to correct the landing error of the UAV, with a novel design wich reduce cost and increase the safety (thanks to small and isolated electrical contacts) without invasive hardware changes on the drone. The developed vision algorithm provides a fast and accurate measurement of UAV position with respect to the landing platform using a visual target, but at the same time it is able to automatically switch to an estimation of position that is independent from the visual target. This aspect is used during navigation or when the tracking of the target fails, ensuring a continuous position measurement feed to the controllers. The developed control system manages all the different phases of a mission (motor turning on/off, take off, navigation, landing,...) with low control error, ensuring a landing over the landing platform with an error that is lower than 5cm for both x and y axis. The developed software in ROS environment is modular and provides input/output interfaces to receive command, or send data. {\textcopyright} 2014 IEEE.},
	doi = {10.1109/ICUAS.2014.6842282},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84904565097\&partnerID=40\&md5=04076148a6e9b80c9da87ee06d339603},
	author = {Francesco Cocchioni and Adriano Mancini and Sauro Longhi}
}
@conference {Zingaretti2008227,
	title = {Autonomous helicopter for surveillance and security},
	booktitle = {2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007},
	volume = {4},
	year = {2008},
	note = {cited By 0},
	pages = {227-234},
	abstract = {Unmanned Aerial Vehicles represent today an advanced and complex robotics platform for novel tasks. For example, UAVs can be used in applications for traffic monitoring and surveillance, emergency services assistance, photogrammetry and surveying. Generally, an UAV must be fully autonomous; autonomy is accomplished by a complex interconnection of systems related to a wide range of topics, e.g., flight low level control, navigation and task-based planning, elaboration of sensor signals, software architecture for reactive behaviours, communication. Today the challenge is the ability to insert UAVs in a cooperative network based on autonomous agents as UAV, UGV (Unmanned Ground Vehicle) to accomplish a specific task a priori defined. In this paper we introduce a prototype of autonomous aerial vehicle, the Helibot helicopter, specifically designed for applications as surveillance and security. Copyright {\textcopyright} 2007 by ASME.},
	doi = {10.1115/DETC2007-35427},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-44849089281\&partnerID=40\&md5=722c3bbead7b4107ed7b860dd3c492b3},
	author = {Primo Zingaretti and Adriano Mancini and Emanuele Frontoni and Monteri{\`u}, A. and Sauro Longhi}
}
