Zufferey, Jean-ChristopheBeyeler, AntoineFloreano, Dario2008-05-122008-05-122008-05-122008https://infoscience.epfl.ch/handle/20.500.14299/23664This present invention describes a novel vision-based control strategy for autonomous cruise flight in possibly cluttered environments such as – but not limited to - cities, forests, valleys, or mountains.Aerial RoboticspatentPL2274658ES2389549EP2274658US2011029161EP2274658WO200912790740514044