Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Quadrotor going through a window and landing: An image-based visual
  servo control approach   This paper considers the problem of controlling a quadrotor to go through a
window and land on a planar target, the landing pad, using an Image-Based
Visual Servo (IBVS) controller that relies on sensing information from two
on-board cameras and an IMU. The maneuver is divided into two stages: crossing
the window and landing on the pad. For the first stage, a control law is
proposed that guarantees that the vehicle will not collide with the wall
containing the window and will go through the window with non-zero velocity
along the direction orthogonal to the window, keeping at all times a safety
distance with respect to the window edges. For the landing stage, the proposed
control law ensures that the vehicle achieves a smooth touchdown, keeping at
all time a positive height above the plane containing the landing pad. For
control purposes, the centroid vectors provided by the combination of the
spherical image measurements of a collection of landmarks (corners) for both
the window and the landing pad are used as position measurement. The
translational optical flow relative to the wall, window edges, and landing
plane is used as velocity cue. To achieve the proposed objective, no direct
measurements nor explicit estimate of position or velocity are required.
Simulation and experimental results are provided to illustrate the performance
of the presented controller.

35
The categories of this paper are: mtrl-th
13
The categories of this paper are: quant-ph
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The categories of this paper are: chem-ph
6
The categories of this paper are: astro-ph
28
The categories of this paper are: alg-geom
22
The categories of this paper are: chao-dyn
11
The categories of this paper are: hep-lat
26
The categories of this paper are: bayes-an
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The categories of this paper are: funct-an
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The categories of this paper are: acc-phys
8
The categories of this paper are: hep-ex
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The categories of this paper are: atom-ph
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The categories of this paper are: adap-org
2
The categories of this paper are: math
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The categories of this paper are: cmp-lg
15
The categories of this paper are: nucl-ex