{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,16]],"date-time":"2025-10-16T07:00:28Z","timestamp":1760598028197,"version":"build-2065373602"},"reference-count":35,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2021,2,6]],"date-time":"2021-02-06T00:00:00Z","timestamp":1612569600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100004239","name":"Politechnika Pozna\u0144ska","doi-asserted-by":"publisher","award":["0214\/SBAD\/0220"],"award-info":[{"award-number":["0214\/SBAD\/0220"]}],"id":[{"id":"10.13039\/501100004239","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004070","name":"Khalifa University of Science, Technology and Research","doi-asserted-by":"publisher","award":["2020-MBZIRC-10"],"award-info":[{"award-number":["2020-MBZIRC-10"]}],"id":[{"id":"10.13039\/501100004070","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The paper addresses the loop shaping problem in the altitude control of an unmanned aerial vehicle to land the flying robot with a specific landing scenario adopted. The proposed solution is optimal, in the sense of the selected performance indices, namely minimum-time, minimum-energy, and velocity-penalized related functions, achieving their minimal values, with numerous experiments conducted throughout the development and preparation to the Mohamed Bin Zayed International Robotics Challenge (MBZIRC 2020). A novel approach to generation of a reference altitude trajectory is presented, which is then tracked in a standard, though optimized, control loop. Three landing scenarios are considered, namely: minimum-time, minimum-energy, and velocity-penalized landing scenarios. The experimental results obtained with the use of the Simulink Support Package for Parrot Minidrones, and the OptiTrack motion capture system proved the effectiveness of the proposed approach.<\/jats:p>","DOI":"10.3390\/s21041151","type":"journal-article","created":{"date-parts":[[2021,2,10]],"date-time":"2021-02-10T04:33:46Z","timestamp":1612931626000},"page":"1151","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Altitude Measurement-Based Optimization of the Landing Process of UAVs"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9456-6704","authenticated-orcid":false,"given":"Dariusz","family":"Horla","sequence":"first","affiliation":[{"name":"Poznan University of Technology, Faculty of Automatic Control, Robotics and Electrical Engineering, Institute of Robotics and Machine Intelligence, ul. Piotrowo 3a, 60-965 Poznan, Poland"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1747-4010","authenticated-orcid":false,"given":"Wojciech","family":"Giernacki","sequence":"additional","affiliation":[{"name":"Poznan University of Technology, Faculty of Automatic Control, Robotics and Electrical Engineering, Institute of Robotics and Machine Intelligence, ul. Piotrowo 3a, 60-965 Poznan, Poland"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7806-7756","authenticated-orcid":false,"given":"Jacek","family":"Cie\u015blak","sequence":"additional","affiliation":[{"name":"Poznan University of Technology, Faculty of Automatic Control, Robotics and Electrical Engineering, Institute of Robotics and Machine Intelligence, ul. Piotrowo 3a, 60-965 Poznan, Poland"},{"name":"ITTI Sp. z o.o., ul. Rubie\u017c 46, 62-612 Poznan, Poland"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9894-2009","authenticated-orcid":false,"given":"Pascual","family":"Campoy","sequence":"additional","affiliation":[{"name":"Computer Vision and Aerial Robotics Group (CVAR) at Centre for Automation and Robotics (CAR), Universidad Politecnica Madrid (UPM), 28006 Madrid, Spain"}]}],"member":"1968","published-online":{"date-parts":[[2021,2,6]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"874","DOI":"10.1002\/rob.21858","article-title":"Autonomous landing on a moving vehicle with an unmanned aerial vehicle","volume":"36","author":"Baca","year":"2019","journal-title":"J. Field Robot."},{"key":"ref_2","unstructured":"Briod, A., Kornatowski, P.M., Klaptocz, A., Zufferey, J.-C., and Floreano, D. (2020, December 10). Vertical Take-off and Landing Aerial Vehicle. 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