*Article* **Visual Servoed Autonomous Landing of an UAV on a Catamaran in a Marine Environment**

**Andrea Delbene 1,\*, Marco Baglietto 1,2 and Enrico Simetti 1,2**


**Abstract:** This paper introduces a procedure for autonomous landing of a quadrotor on an unmanned surface vehicle in a marine environment. The relative pose and velocity of the vehicle with respect to the quadrotor are estimated using a combination of data coming from a vision system, which recognizes a set of AprilTags located on the vehicle itself, and an ultrasonic sensor, to achieve further robustness during the final landing phase. The considered software and hardware architecture is provided, and the details about the landing procedure are presented. Software-in-the-loop tests were performed as a validation step for the proposed algorithms; to recreate realistic conditions, the movements of the landing platform have been replicated from data of a test in a real marine environment. In order to provide further proof of the reliability of the vision system, a video sequence from a manual landing of a quadrotor on the surface vehicle in a real marine environment has been processed, and the results are presented.

**Keywords:** UAV; ASV; splashproof quadrotor; vision system; state machine; autonomous landing; marine robotics; aerial robotics
