Finding a Landing Site in an Urban Area: A Multi-Resolution Probabilistic Approach.

This paper considers the problem of finding a landing spot for a drone in a dense urban environment. The conflicting requirements of fast exploration and high resolution are solved using a multi-resolution approach, by which visual information is collected by the drone at decreasing altitudes so that the spatial resolution of the acquired images increases monotonically. A probability distribution is used to capture the uncertainty of the decision process for each terrain patch.