Bioinspired inverted landing. An illustration comparing an example of inverted landing in a small quadcopter and a blue-bottle fly [10]. Both an at-scale and a scaled-up version of the landing sequence of the blue-bottle fly are shown.

A fly‑inspired two-stage control policy enabling palm‑sized drones to perform dynamic inverted landings on ceilings. Trained via reinforcement learning in simulation (augmented optical‐flow+SVM+neural net)
ieeexplore.ieee.org/document/108...

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