Takeoff and Landing of Multirotor Aerial Vehicles on Slopes: Design and Experiment

This paper considers the problem of autonomous takeoff and landing of multirotor aerial vehicles (MAVs) on static slopes. Specifically, during takeoff, it should prevent the propellers from hitting the incline, and during the landing, it requires the fast regulation of the MAV attitude parallel to the slope to avoid rollover. To meet both the above requirements, we attempt an inner-outer-loop-based robust control strategy for the safe slop takeoff and landing. We show simulation and experiment to validate the proposed design.