  Many aerial robotic applications require the ability to land on moving
platforms, such as delivery trucks and marine research boats. We present a
method to autonomously land an Unmanned Aerial Vehicle on a moving vehicle. A
visual servoing controller approaches the ground vehicle using velocity
commands calculated directly in image space. The control laws generate velocity
commands in all three dimensions, eliminating the need for a separate height
controller. The method has shown the ability to approach and land on the moving
deck in simulation, indoor and outdoor environments, and compared to the other
available methods, it has provided the fastest landing approach. Unlike many
existing methods for landing on fast-moving platforms, this method does not
rely on additional external setups, such as RTK, motion capture system, ground
station, offboard processing, or communication with the vehicle, and it
requires only the minimal set of hardware and localization sensors. The videos
and source codes are also provided.
