{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,31]],"date-time":"2026-03-31T05:18:29Z","timestamp":1774934309767,"version":"3.50.1"},"reference-count":58,"publisher":"American Association for the Advancement of Science (AAAS)","issue":"28","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sci. Robot."],"published-print":{"date-parts":[[2019,3,13]]},"abstract":"<jats:p>A modularized and actuated landing gear framework allows a UAV to stably perch and rest on a wide range of different structures.<\/jats:p>","DOI":"10.1126\/scirobotics.aau6637","type":"journal-article","created":{"date-parts":[[2019,3,13]],"date-time":"2019-03-13T23:05:13Z","timestamp":1552518313000},"source":"Crossref","is-referenced-by-count":128,"title":["Perching and resting\u2014A paradigm for UAV maneuvering with modularized landing gears"],"prefix":"10.1126","volume":"4","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4132-1217","authenticated-orcid":true,"given":"Kaiyu","family":"Hang","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering and Material Science, Yale University, New Haven, CT, USA."}]},{"given":"Ximin","family":"Lyu","sequence":"additional","affiliation":[{"name":"Hong Kong University of Science and Technology, Hong Kong, China."}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3157-0885","authenticated-orcid":true,"given":"Haoran","family":"Song","sequence":"additional","affiliation":[{"name":"Hong Kong University of Science and Technology, Hong Kong, China."}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3958-6179","authenticated-orcid":true,"given":"Johannes A.","family":"Stork","sequence":"additional","affiliation":[{"name":"RPL, KTH Royal Institute of Technology, Stockholm, Sweden."},{"name":"Centre for Applied Autonomous Sensor Systems (AASS), \u00d6rebro University, \u00d6rebro, Sweden."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2409-4668","authenticated-orcid":true,"given":"Aaron M.","family":"Dollar","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering and Material Science, Yale University, New Haven, CT, USA."}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2965-2953","authenticated-orcid":true,"given":"Danica","family":"Kragic","sequence":"additional","affiliation":[{"name":"RPL, KTH Royal Institute of Technology, Stockholm, Sweden."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8636-4168","authenticated-orcid":true,"given":"Fu","family":"Zhang","sequence":"additional","affiliation":[{"name":"The University of Hong Kong, Hong Kong, China."}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-009-9383-1"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2012.2206473"},{"key":"e_1_3_2_4_2","doi-asserted-by":"crossref","unstructured":"S. Rathinam P. Almeida Z. Kim S. Jackson A. Tinka W. Grossman R. Sengupta Autonomous searching and tracking of a river using an uav in American Control Conference (IEEE 2007) pp. 359\u2013364.","DOI":"10.1109\/ACC.2007.4282475"},{"key":"e_1_3_2_5_2","unstructured":"A. Ryan M. Zennaro A. Howell R. Sengupta J. K. Hedrick An overview of emerging results in cooperative uav control in IEEE Conference on Decision and Control (IEEE 2004) vol. 1 pp. 602\u2013607."},{"key":"e_1_3_2_6_2","doi-asserted-by":"crossref","unstructured":"J.-H. Kim S. Sukkarieh S. Wishart Real-time navigation guidance and control of a uav using low-cost sensors in Field and Service Robotics (Springer 2003) pp. 299\u2013309.","DOI":"10.1007\/10991459_29"},{"key":"e_1_3_2_7_2","unstructured":"S. Lange N. Sunderhauf P. Protzel A vision based onboard approach for landing and position control of an autonomous multirotor uav in gps-denied environments in IEEE International Conference on Advanced Robotics (IEEE 2009) pp. 1\u20136."},{"key":"e_1_3_2_8_2","doi-asserted-by":"crossref","unstructured":"W. Pisano D. Lawrence P. Gray Autonomous uav control using a 3-sensor autopilot in AIAA Infotech@Aerospace Conference and Exhibit (AIAA 2007) p. 2756.","DOI":"10.2514\/6.2007-2756"},{"key":"e_1_3_2_9_2","doi-asserted-by":"crossref","unstructured":"S. Ross N. Melik-Barkhudarov K. S. Shankar A. Wendel D. Dey J. A. Bagnell M. Hebert Learning monocular reactive uav control in cluttered natural environments in IEEE International Conference on Robotics and Automation (ICRA) (IEEE 2013) pp. 1765\u20131772.","DOI":"10.1109\/ICRA.2013.6630809"},{"key":"e_1_3_2_10_2","doi-asserted-by":"crossref","unstructured":"G. Zhou J. Yuan I.-L. Yen F. Bastani Robust real-time uav based power line detection and tracking in IEEE International Conference on Image Processing (IEEE 2016) pp. 744\u2013748.","DOI":"10.1109\/ICIP.2016.7532456"},{"key":"e_1_3_2_11_2","doi-asserted-by":"crossref","unstructured":"I. Maza K. Kondak M. Bernard A. Ollero Multi-uav cooperation and control for load transportation and deployment in International Symposium on UAVs (Springer 2009) pp. 417\u2013449.","DOI":"10.1007\/s10846-009-9352-8"},{"key":"e_1_3_2_12_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-012-9280-5"},{"key":"e_1_3_2_13_2","doi-asserted-by":"crossref","unstructured":"E. Semsch M. Jakob D. Pavlicek M. Pechoucek Autonomous uav surveillance in complex urban environments in IEEE\/WIC\/ACM International Joint Conference on Web Intelligence and Intelligent Agent Technology (IEEE Computer Society 2009) pp. 82\u201385.","DOI":"10.1109\/WI-IAT.2009.132"},{"key":"e_1_3_2_14_2","doi-asserted-by":"crossref","unstructured":"D. Santano H. Esmaeili Aerial videography in built heritage documentation: The case of post-independence architecture of Malaysia in International Conference on Virtual Systems & Multimedia (IEEE 2014) pp. 323\u2013328.","DOI":"10.1109\/VSMM.2014.7136680"},{"key":"e_1_3_2_15_2","doi-asserted-by":"crossref","unstructured":"P. Doherty P. Rudol A uav search and rescue scenario with human body detection and geolocalization in Australasian Joint Conference on Artificial Intelligence (Springer 2007) pp. 1\u201313.","DOI":"10.1007\/978-3-540-76928-6_1"},{"key":"e_1_3_2_16_2","doi-asserted-by":"crossref","unstructured":"G. Li X. Zhou J. Yin Q. Xiao An uav scheduling and planning method for postdisaster survey in The International Archives of Photogrammetry Remote Sensing and Spatial Information Sciences (2014) vol. 40 p. 169.","DOI":"10.5194\/isprsarchives-XL-2-169-2014"},{"key":"e_1_3_2_17_2","doi-asserted-by":"crossref","unstructured":"Q. Wen H. He X. Wang W. Wu L. Wang F. Xu P. Wang T. Tang Y. Lei Uav remote sensing hazard assessment in Zhouqu debris flow disaster in Remote Sensing of the Ocean Sea Ice Coastal Waters and Large Water Regions (International Society for Optics and Photonics 2011) vol. 8175 p. 817510.","DOI":"10.1117\/12.898019"},{"key":"e_1_3_2_18_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.adhoc.2012.12.004"},{"key":"e_1_3_2_19_2","unstructured":"A. Puri \u201cA survey of unmanned aerial vehicles (UAV) for traffic surveillance\u201d (Technical Report Department of Computer Science and Engineering University of South Florida 2005) pp. 1\u201329."},{"key":"e_1_3_2_20_2","doi-asserted-by":"crossref","unstructured":"A. Chakrabarty J. Langelaan Flight path planning for uav atmospheric energy harvesting using heuristic search in AIAA Guidance Navigation and Control Conference (AIAA 2010) p. 8033.","DOI":"10.2514\/6.2010-8033"},{"key":"e_1_3_2_21_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.ymssp.2015.05.013"},{"key":"e_1_3_2_22_2","doi-asserted-by":"crossref","unstructured":"F. Morbidi R. Cano D. Lara Minimum-energy path generation for a quadrotor uav in IEEE International Conference on Robotics and Automation (ICRA) (IEEE 2016) pp. 1492\u20131498.","DOI":"10.1109\/ICRA.2016.7487285"},{"key":"e_1_3_2_23_2","doi-asserted-by":"crossref","unstructured":"X. Lyu H. Gu J. Zhou Z. Li S. Shen F. Zhang A hierarchical control approach for a quadrotor tail-sitter vtol uav and experimental verification in IEEE International Conference on Intelligent Robots and Systems (IROS) (IEEE 2017).","DOI":"10.1109\/IROS.2017.8206400"},{"key":"e_1_3_2_24_2","doi-asserted-by":"crossref","unstructured":"X. Lyu H. Gu J Zhou Z. Li S. Shen F. Zhang Design and implementation of a quadrotor tail-sitter vtol uav in IEEE International Conference on Robotics and Automation (ICRA) (IEEE 2017) pp. 3924\u20133930.","DOI":"10.1109\/ICRA.2017.7989452"},{"key":"e_1_3_2_25_2","doi-asserted-by":"crossref","unstructured":"H. Gu X. Cai J. Zhou Z. Li S. Shen F. Zhang A coordinate descent method for multidisciplinary design optimization of electric-powered winged uavs in International Conference on Unmanned Aircraft Systems (IEEE 2018) pp. 1189\u20131198.","DOI":"10.1109\/ICUAS.2018.8453458"},{"key":"e_1_3_2_26_2","unstructured":"T. W. Danko A. Kellas P. Y. Oh Robotic rotorcraft and perch-and-stare: Sensing landing zones and handling obscurants in IEEE International Conference on Advanced Robotics (IEEE 2005) pp. 296\u2013302."},{"key":"e_1_3_2_27_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2623346"},{"key":"e_1_3_2_28_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12213-010-0026-1"},{"key":"e_1_3_2_29_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-009-9377-z"},{"key":"e_1_3_2_30_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910393286"},{"key":"e_1_3_2_31_2","doi-asserted-by":"crossref","unstructured":"A. L. Desbiens A. T. Asbeck M. R. Cutkosky Scansorial landing and perching in Robotics Research (Springer 2011) pp. 169\u2013184.","DOI":"10.1007\/978-3-642-19457-3_11"},{"key":"e_1_3_2_32_2","doi-asserted-by":"crossref","unstructured":"D. Mehanovic J. Bass T. Courteau D. Rancourt A. L. Desbiens Autonomous thrust-assisted perching of a fixed-wing uav on vertical surfaces in Conference on Biomimetic and Biohybrid Systems (Springer 2017) pp. 302\u2013314.","DOI":"10.1007\/978-3-319-63537-8_26"},{"key":"e_1_3_2_33_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.4032250"},{"key":"e_1_3_2_34_2","doi-asserted-by":"crossref","unstructured":"W. R. Roderick H. Jiang S. Wang D. Lentink M. R. Cutkosky Bioinspired grippers for natural curved surface perching in Conference on Biomimetic and Biohybrid Systems (Springer 2017) pp. 604\u2013610.","DOI":"10.1007\/978-3-319-63537-8_56"},{"key":"e_1_3_2_35_2","doi-asserted-by":"crossref","unstructured":"I.-W. Park T. Smith H. Sanchez S. W. Wong P. Piacenza M. Ciocarlie Developing a 3-dof compliant perching arm for a free-flying robot on the international space station in IEEE International Conference on Advanced Intelligent Mechatronics (IEEE 2017) pp. 1135\u20131141.","DOI":"10.1109\/AIM.2017.8014171"},{"key":"e_1_3_2_36_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2017.2764849"},{"key":"e_1_3_2_37_2","doi-asserted-by":"publisher","DOI":"10.1260\/1756-8293.5.3.207"},{"key":"e_1_3_2_38_2","unstructured":"Z. Zhang P. Xie O. Ma Bio-inspired trajectory generation for uav perching in IEEE\/ASME International Conference on Advanced Intelligent Mechatronics (IEEE 2013) pp. 997\u20131002."},{"key":"e_1_3_2_39_2","doi-asserted-by":"publisher","DOI":"10.5772\/58898"},{"key":"e_1_3_2_40_2","doi-asserted-by":"crossref","unstructured":"C. E. Doyle J. J. Bird T. A. Isom C. J. Johnson J. C. Kallman J. A. Simpson R. J. King J. J. Abbott Avian-inspired passive perching mechanism for robotic rotorcraft in IEEE International Conference on Intelligent Robots and Systems (IROS) (IEEE 2011) pp. 4975\u20134980.","DOI":"10.1109\/IROS.2011.6094487"},{"key":"e_1_3_2_41_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2012.2211081"},{"key":"e_1_3_2_42_2","doi-asserted-by":"crossref","unstructured":"H. Prahlad R. Pelrine S. Stanford J. Marlow R. Kornbluh Electroadhesive robots\u2014Wall climbing robots enabled by a novel robust and electrically controllable adhesion technology in IEEE International Conference on Robotics and Automation (ICRA) (IEEE 2008) pp. 3028\u20133033.","DOI":"10.1109\/ROBOT.2008.4543670"},{"key":"e_1_3_2_43_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.aaf1092"},{"key":"e_1_3_2_44_2","doi-asserted-by":"crossref","unstructured":"H. Jiang M. T. Pope E. W. Hawkes D. L. Christensen M. A. Estrada A. Parlier R. Tran M. R. Cutkosky Modeling the dynamics of perching with opposed-grip mechanisms in IEEE International Conference on Robotics and Automation (ICRA) (IEEE 2014) pp. 3102\u20133108.","DOI":"10.1109\/ICRA.2014.6907305"},{"key":"e_1_3_2_45_2","doi-asserted-by":"crossref","unstructured":"L. Daler A. Klaptocz A. Briod M. Sitti D. Floreano A perching mechanism for flying robots using a fibre-based adhesive in IEEE International Conference on Robotics and Automation (ICRA) (IEEE 2013) pp. 4433\u20134438.","DOI":"10.1109\/ICRA.2013.6631206"},{"key":"e_1_3_2_46_2","doi-asserted-by":"crossref","unstructured":"J. Moore R. Tedrake Control synthesis and verification for a perching uav using lqr-trees in IEEE Annual Conference on Decision and Control (IEEE 2012) pp. 3707\u20133714.","DOI":"10.1109\/CDC.2012.6425852"},{"key":"e_1_3_2_47_2","doi-asserted-by":"crossref","unstructured":"J. Thomas G. Loianno M. Pope E. W. Hawkes M. A. Estrada H. Jiang M. R. Cutkosky V. Kumar Planning and control of aggressive maneuvers for perching on inclined and vertical surfaces in ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (American Society of Mechanical Engineers 2015).","DOI":"10.1115\/DETC2015-47710"},{"key":"e_1_3_2_48_2","doi-asserted-by":"crossref","unstructured":"R. Cory R. Tedrake Experiments in fixed-wing uav perching in AIAA Guidance Navigation and Control Conference and Exhibit (AIAA 2008) p. 7256.","DOI":"10.2514\/6.2008-7256"},{"key":"e_1_3_2_49_2","doi-asserted-by":"crossref","unstructured":"K. Zhang P. Chermprayong T. Alhinai R. Siddall M. Kovac Spidermav: Perching and stabilizing micro aerial vehicles with bio-inspired tensile anchoring systems in IEEE International Conference on Intelligent Robots and Systems (IROS) (IEEE 2017) pp. 6849\u20136854.","DOI":"10.1109\/IROS.2017.8206606"},{"key":"e_1_3_2_50_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2800798"},{"key":"e_1_3_2_51_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.038109"},{"key":"e_1_3_2_52_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2789842"},{"key":"e_1_3_2_53_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911434236"},{"key":"e_1_3_2_54_2","doi-asserted-by":"crossref","unstructured":"D. Mellinger M. Shomin N. Michael V. Kumar Cooperative grasping and transport using multiple quadrotors in Distributed Autonomous Robotic Systems (Springer 2013) pp. 545\u2013558.","DOI":"10.1007\/978-3-642-32723-0_39"},{"key":"e_1_3_2_55_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aar2915"},{"key":"e_1_3_2_56_2","doi-asserted-by":"crossref","unstructured":"P. E. I. Pounds D. R. Bersak A. M. Dollar Grasping from the air: Hovering capture and load stability in IEEE International Conference on Robotics and Automation (ICRA) (2011) pp. 2491\u20132498.","DOI":"10.1109\/ICRA.2011.5980314"},{"key":"e_1_3_2_57_2","doi-asserted-by":"crossref","unstructured":"R. B. Rusu S. Cousins 3D is here: Point Cloud Library (PCL) in IEEE International Conference on Robotics and Automation (ICRA) (IEEE 2011) pp. 1\u20134.","DOI":"10.1109\/ICRA.2011.5980567"},{"key":"e_1_3_2_58_2","doi-asserted-by":"crossref","unstructured":"D. Mellinger V. Kumar Minimum snap trajectory generation and control for quadrotors in IEEE International Conference on Robotics and Automation (ICRA) (IEEE 2011) pp. 2520\u20132525.","DOI":"10.1109\/ICRA.2011.5980409"},{"key":"e_1_3_2_59_2","unstructured":"J. Sol\u00e0 Quaternion kinematics for the error-state Kalman filter. arXiv:1711.02508 [cs.RO] (3 November 2017)."}],"container-title":["Science Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.science.org\/doi\/pdf\/10.1126\/scirobotics.aau6637","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,1,16]],"date-time":"2024-01-16T12:14:20Z","timestamp":1705407260000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.science.org\/doi\/10.1126\/scirobotics.aau6637"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,3,13]]},"references-count":58,"journal-issue":{"issue":"28","published-print":{"date-parts":[[2019,3,13]]}},"alternative-id":["10.1126\/scirobotics.aau6637"],"URL":"https:\/\/doi.org\/10.1126\/scirobotics.aau6637","relation":{},"ISSN":["2470-9476"],"issn-type":[{"value":"2470-9476","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,3,13]]},"article-number":"eaau6637"}}