  This work presents a prototype of a multirotor aerial vehicle capable of
precision landing, even under the effects of rotor failures. The manuscript
presents the fault-tolerant techniques and mechanical designs to achieve a
fault-tolerant multirotor, and a vision-based navigation system required to
achieve a precision landing. Preliminary experimental results will be shown, to
validate on one hand the fault-tolerant control vehicle and, on the other hand,
the autonomous landing algorithm. Also, a prototype of the fault-tolerant UAV
is presented, capable of precise autonomous landing, which will be used in
future experiments.
