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. 2015 Aug 6;5(4):20150015. doi: 10.1098/rsfs.2015.0015

Figure 7.

Figure 7.

Landing sequence for a small air vehicle: each stage in the sequence can be viewed as a ‘funnel’ in state space. The goal of the manoeuvre at each stage is to get the vehicle within the mouth of the next funnel for a safe landing.