Sonar based terrain estimation & automatic landing of swarm quadrotors

This paper presents a method for emergency landing of a fleet of quadcopters on an unknown terrain using a sonar sensor. Quadcopters are equipped with sonar sensors for estimation of heights and the terrain is analysed. These data from the quadcopters are used for determining the landing area. Landing zone is considered in such a way that each quad is landed using lesser Energy. Multiple objective Swarm Optimisation technique (MOSO) is used for determining the landing surfaces and guiding each quad to its corresponding landing zones. Algorithms for terrain estimation, surface detection and landing are simulated for a swarm size of three.