Fig. 9: A multirotor UAV that perches, detaches, and lands all with its propeller guards.

a A conceptual multirotor equipped with a panoramic camera at the bottom. b The power reduction due to the ceiling effect, which arises when the multirotor perches on a surface (e.g., ceiling) with its propeller guards. c The multirotor is perched on different surfaces, including the ceiling, wall, slope, and ground. d The multirotor is perched on and detaching from a wall. (From Fig. 1 of the original publication).