A Lightweight Toggleable Adhesion Prototype for Multirotor UAV Landing on Tilting Platforms

• URL: http://arxiv.org/abs/2604.23074v1
• Date: Fri, 24 Apr 2026 23:58:40 GMT
• Title: A Lightweight Toggleable Adhesion Prototype for Multirotor UAV Landing on Tilting Platforms
• Abstract summary: This paper presents a lightweight toggleable adhesion mechanism to improve landing reliability.<n>The system uses a motor-driven corkscrew that engages hook-and-loop material on the landing surface.<n>Using only a simple vertical PID controller, the proposed approach increases landing success from an average of 40% (baseline) to 80% across platform tilts up to 43 degrees.
• Score: 0.0
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Autonomous multirotor landings on uncrewed surface vessels (USVs) are critical for persistent maritime operations but remain challenging due to wave-induced tilt, wind disturbances, and limited landing area. Many existing approaches exhibit small pose tolerance for reliable landing. This paper presents a lightweight toggleable adhesion mechanism to improve landing reliability. The system uses a motor-driven corkscrew that engages hook-and-loop material on the landing surface, enabling active adhesion during landing and controlled release during takeoff. We evaluate a prototype using a modified Crazyflie 2.0 and a custom tilting platform at fixed angles representative of extreme wave conditions. Using only a simple vertical PID controller, the proposed approach increases landing success from an average of 40% (baseline) to 80% across platform tilts up to 43 degrees using appropriately selected actuation settings.

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