Autonomous Thrust-Assisted Perching of a Fixed-Wing UAV on Vertical Surfaces

Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10384)


We present the first fixed-wing drone that autonomously perches and takes off from vertical surfaces. Inspired by birds, this airplane uses a thrust-assisted pitch-up maneuver to slow down rapidly before touchdown. Microspines are used to cling to rough walls, while strictly onboard sensing is used for control. The effect of thrust on the suspension’s landing envelope is analyzed and a simple vertical velocity controller is proposed to create smooth and robust descents towards a wall. Multiple landings are performed over a range of flight conditions (a video of S-MAD is available at:


Perching Multimodal Scansorial Fixed-wing UAV Drone Bioinspired 



This work was supported financially by FRQNT. We would like to thank the members of Createk and Prof. Nahon’s lab at McGill for the great help that they provided throughout the realization of the work presented.


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  1. 1.Université de SherbrookeSherbrookeCanada

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