Recently, there has been growing interest in developing rotorcraft unmanned aircraft system (RUAS) based on visual sensors. Among basic phases for autonomous flight, autonomous landing is the most challenging process. For most of RUAS, visual sensors are widely used during the landing maneuver. This paper first gives a classification of landmarks on the helipad and summarizes the general implementation steps of vision system. Then it introduces the dynamic model of rotorcraft unmanned aircraft vehicle (RUAV) and summarizes two implementation methods of control system. Next it classifies some control techniques and introduces them. Finally, the paper summarizes current related work and classifies them depending on the type of landmarks.
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