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Perching on {the surface} of moving objects, like vehicles, could extend theflight {time} and range of quadrotors. Suction cups are usually adopted for{surface attachment} due to their durability and large adhesive force. To sealon {a surfaces}, suction cups {must} be aligned with {the surface} and {possessproper relative tangential velocity}. {However, quadrotors' attitude andrelative velocity errors would become significant when the object surface ismoving and inclined. To address this problem, we proposed a real-timetrajectory planning algorithm. The time-optimal aggressive trajectory isefficiently generated through multimodal search in a dynamic time-domain. Thevelocity errors relative to the moving surface are alleviated.} To furtheradapt to the residual errors, we design a compliant gripper using self-sealingcups. Multiple cups in different directions are integrated into a wheel-likemechanism to increase the tolerance to attitude errors. The wheel mechanismalso eliminates the requirement of matching the attitude and tangentialvelocity. {Extensive tests are conducted to perch on static and moving surfacesat various inclinations.} Results demonstrate that our proposed system enablesa quadrotor to reliably perch on moving inclined surfaces (up to $1.07m/s$ and$90^\circ$) with a success rate of $70\%$ or higher. {The efficacy of thetrajectory planner is also validated. Our gripper has larger adaptability toattitude errors and tangential velocities than conventional suction cupgrippers.} The success rate increases by 45\% in dynamic perches.

Hitchhiker: A Quadrotor Aggressively Perching on a Moving Inclined Surface Using Compliant Suction Cup Gripper