Autonomous takeoff and landing of a quadcopter

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Abstract
This paper presents an implementation method for an autonomous take-off and landing with a quadcopter on a stationary platform. The altitude measurement is improved with a Lidar, an inertial unit and a Kalman filter. Equations shown for a take-off and landing path use position and velocity commands. A non linear Backsteping robust control law is used. The entire system is programmed in C/C++ with ROS.